{
  "raw_dir": "/home/sion/work/pico/debug/pico_workstation_service/recordings/pico_record_20260521_160133_340309553",
  "repo_id": "mocovision/pico_dual_arm_20260521_160133_teleop20",
  "output_root": "/home/sion/work/pico/dataset_lerobot/pico_record_20260521_160133_teleop20_lerobot",
  "fps": 20,
  "frames": 704,
  "duration_s": 35.2,
  "start_monotonic_ns": 102284744095227,
  "end_monotonic_ns": 102319948821396,
  "summary_present": true,
  "source_counts": {
    "robot_state": 1762,
    "pico_tracking": 3167,
    "gripper_events": 6
  },
  "sync_abs_error_ms": {
    "robot": {
      "mean": 5.009740598011363,
      "p95": 8.02745675,
      "max": 11.916611
    },
    "pico": {
      "mean": 2.7929083096590905,
      "p95": 5.12075925,
      "max": 7.162913
    }
  },
  "state_definition": "left joints, right joints, latest left gripper target width mm, latest right gripper target width mm.",
  "action_definition": "left Pico controller pose [x,y,z,qx,qy,qz,qw], right Pico controller pose [x,y,z,qx,qy,qz,qw], latest left/right gripper target width mm.",
  "robot_0_action_definition": "left Pico controller pose [x,y,z,qx,qy,qz,qw] plus latest left gripper target width mm.",
  "robot_1_action_definition": "right Pico controller pose [x,y,z,qx,qy,qz,qw] plus latest right gripper target width mm."
}