[ { "episode_id": "2025_01_09_13_57_17", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-13-57-17.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 102.07410025596619, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_13_59_54", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-13-59-54.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 673.0459840297699, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_14_11_58", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-14-11-58.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 388.1821074485779, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_14_28_47", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-14-28-47.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 663.3400661945343, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_14_40_21", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-14-40-21.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 327.70892214775085, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_14_57_02", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-14-57-02.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 254.168035030365, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_15_02_21", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-15-02-21.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 260.9439346790314, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_15_08_11", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-15-08-11.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 73.35595703125, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_15_18_29", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-15-18-29.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 478.61129212379456, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_15_27_49", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-15-27-49.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 127.45809030532837, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_15_30_21", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-15-30-21.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 328.5739152431488, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_15_37_27", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-15-37-27.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 528.8091995716095, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_15_46_39", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-15-46-39.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 107.90286922454834, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_15_49_10", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-15-49-10.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 383.9319851398468, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_16_44_57", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-16-44-57.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 606.2551031112671, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_16_55_42", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-16-55-42.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 340.65755820274353, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_17_03_05", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-17-03-05.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 683.2208676338196, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_17_14_59", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-17-14-59.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 341.36808919906616, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_17_23_07", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-17-23-07.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 622.7269518375397, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_17_40_57", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-17-40-57.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 249.89302682876587, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_17_51_35", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-17-51-35.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 508.5952615737915, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_18_00_33", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-18-00-33.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 368.00805830955505, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_18_08_36", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-18-08-36.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 572.2049839496613, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_18_18_47", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-18-18-47.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 121.01021337509155, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_18_21_40", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-18-21-40.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 345.7222182750702, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_18_41_38", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-18-41-38.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 149.89308381080627, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_18_44_37", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-18-44-37.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 338.89301109313965, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_18_52_39", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-18-52-39.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 527.4720211029053, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_19_06_44", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-19-06-44.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 337.9648401737213, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_19_14_15", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-19-14-15.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 40.900004386901855, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_19_15_33", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-19-15-33.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 471.6410849094391, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_19_24_18", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-19-24-18.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 191.77799677848816, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_09_19_28_18", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-09-19-28-18.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 117.84121131896973, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_15_28_50", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-15-28-50.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 263.29800939559937, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_15_34_33", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-15-34-33.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 294.964994430542, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_15_39_56", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-15-39-56.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 25.074915885925293, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_15_40_55", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-15-40-55.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 397.16584491729736, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_16_17_40", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-16-17-40.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 49.32118272781372, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_16_19_15", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-16-19-15.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 564.7227928638458, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_16_29_00", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-16-29-00.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 87.06600952148438, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_16_30_49", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-16-30-49.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 323.6771147251129, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_16_37_45", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-16-37-45.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 534.7460098266602, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_17_19_03", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-17-19-03.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 295.6399908065796, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_17_25_29", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-17-25-29.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 588.5372185707092, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_17_36_05", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-17-36-05.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 285.7630412578583, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_17_54_09", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-17-54-09.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 521.9119353294373, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_18_12_06", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-18-12-06.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 656.420979976654, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_18_23_40", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-18-23-40.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 382.2270665168762, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_10_18_31_44", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-10-18-31-44.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 550.4349520206451, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_11_12_32", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-11-12-32.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 504.69208097457886, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_11_21_44", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-11-21-44.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 384.28405594825745, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_11_29_58", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-11-29-58.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 260.1249158382416, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_11_35_53", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-11-35-53.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 289.4713935852051, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_11_55_48", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-11-55-48.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 139.11922955513, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_11_59_40", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-11-59-40.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 485.75401306152344, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_12_22_42", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-12-22-42.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 398.18996357917786, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_13_42_45", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-13-42-45.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 152.90403580665588, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_13_46_54", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-13-46-54.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 454.21118450164795, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_13_55_45", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-13-55-45.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 87.42718887329102, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_13_59_43", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-13-59-43.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 253.39984154701233, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_14_04_40", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-14-04-40.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 151.81168746948242, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_14_09_00", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-14-09-00.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 283.44585490226746, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_14_22_09", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-14-22-09.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 276.6531882286072, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_14_35_33", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-14-35-33.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 213.80902242660522, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_14_43_37", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-14-43-37.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 23.222262620925903, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_14_45_48", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-14-45-48.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 331.73218512535095, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_14_54_27", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-14-54-27.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 268.9350333213806, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_14_59_16", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-14-59-16.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 64.52076244354248, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_15_02_03", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-15-02-03.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 463.78288292884827, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_15_10_57", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-15-10-57.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 284.18306183815, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_15_18_22", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-15-18-22.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 497.44392490386963, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_15_27_19", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-15-27-19.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 220.85412001609802, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_11_15_35_08", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-11-15-35-08.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 180.04488492012024, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_09_43_29", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-09-43-29.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 470.80998945236206, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_09_51_50", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-09-51-50.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 257.929119348526, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_10_05_22", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-10-05-22.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 542.7281138896942, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_10_14_56", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-10-14-56.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 312.24720287323, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_10_51_29", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-10-51-29.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 567.7369682788849, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_11_01_25", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-11-01-25.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 277.53414011001587, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_11_07_43", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-11-07-43.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 484.5190939903259, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_11_16_17", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-11-16-17.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 113.13808989524841, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_11_18_57", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-11-18-57.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 175.34114813804626, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_11_23_17", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-11-23-17.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 372.9980924129486, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_11_31_57", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-11-31-57.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 331.1063995361328, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_11_44_13", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-11-44-13.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 457.49695897102356, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_14_57_37", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-14-57-37.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 492.1769962310791, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_15_11_07", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-15-11-07.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 390.762953042984, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_15_18_12", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-15-18-12.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 195.26702857017517, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_15_50_28", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-15-50-28.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 481.62211060523987, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_15_58_56", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-15-58-56.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 250.1760470867157, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_16_06_01", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-16-06-01.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 458.07401967048645, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_16_14_09", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-16-14-09.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 251.4598240852356, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_16_19_55", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-16-19-55.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 438.07303953170776, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_16_27_57", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-16-27-57.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 225.34510684013367, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_16_52_33", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-16-52-33.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 215.0911750793457, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_16_57_41", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-16-57-41.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 183.49395966529846, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_17_02_10", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-17-02-10.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 237.14010787010193, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_17_34_32", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-17-34-32.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 257.26118183135986, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_17_40_45", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-17-40-45.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 198.91093611717224, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true }, { "episode_id": "2025_01_13_17_46_07", "source_dataset": "reassemble", "source_file": "data\\reassemble_real\\data\\2025-01-13-17-46-07.h5", "machine_type": "A", "machine_family": "cobot_7dof", "machine_model": "Franka Panda", "num_axes": 7, "axis_map": { "0": "joint_1", "1": "joint_2", "2": "joint_3", "3": "joint_4", "4": "joint_5", "5": "joint_6", "6": "joint_7" }, "start_time": null, "duration_seconds": 269.4517123699188, "primary_sampling_rate_hz": 100.0, "task_type": "assembly", "task_description": "NIST Assembly Task Board 1 - assembly", "fault_type": "normal", "fault_label": "success", "success": true, "static_context": { "benchmark": "NIST_ATB1", "camera_poses": null, "has_audio": true, "has_event_camera": true }, "channels": [ { "name": "setpoint_pos_0", "original_name": "joint_positions_0", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "setpoint_pos_1", "original_name": "joint_positions_1", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "setpoint_pos_2", "original_name": "joint_positions_2", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "setpoint_pos_3", "original_name": "joint_positions_3", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "setpoint_pos_4", "original_name": "joint_positions_4", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "setpoint_pos_5", "original_name": "joint_positions_5", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "setpoint_pos_6", "original_name": "joint_positions_6", "role": "setpoint", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "rad", "source_type": "commanded", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_vel_0", "original_name": "joint_velocities_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "feedback_vel_1", "original_name": "joint_velocities_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "feedback_vel_2", "original_name": "joint_velocities_2", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "feedback_vel_3", "original_name": "joint_velocities_3", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "feedback_vel_4", "original_name": "joint_velocities_4", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "feedback_vel_5", "original_name": "joint_velocities_5", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "feedback_vel_6", "original_name": "joint_velocities_6", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "rad/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "effort_torque_0", "original_name": "joint_efforts_0", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 0, "description": null }, { "name": "effort_torque_1", "original_name": "joint_efforts_1", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 1, "description": null }, { "name": "effort_torque_2", "original_name": "joint_efforts_2", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 2, "description": null }, { "name": "effort_torque_3", "original_name": "joint_efforts_3", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 3, "description": null }, { "name": "effort_torque_4", "original_name": "joint_efforts_4", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 4, "description": null }, { "name": "effort_torque_5", "original_name": "joint_efforts_5", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 5, "description": null }, { "name": "effort_torque_6", "original_name": "joint_efforts_6", "role": "effort", "tier": "tier1", "sampling_rate_hz": 100.0, "unit": "Nm", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": 6, "description": null }, { "name": "feedback_gripper_left", "original_name": "gripper_positions_0", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_right", "original_name": "gripper_positions_1", "role": "feedback", "tier": "tier2", "sampling_rate_hz": 100.0, "unit": "m", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_left", "original_name": "gripper_velocities_0", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "feedback_gripper_vel_right", "original_name": "gripper_velocities_1", "role": "feedback", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "m/s", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_left", "original_name": "gripper_efforts_0", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null }, { "name": "effort_gripper_right", "original_name": "gripper_efforts_1", "role": "effort", "tier": "tier3", "sampling_rate_hz": 100.0, "unit": "N", "source_type": "measured", "range_min": null, "range_max": null, "axis_id": null, "description": null } ], "has_setpoint": true, "has_effort": true, "mve_compliant": true } ]