{
  "raw_dir": "/home/sion/work/pico/debug/pico_workstation_service/recordings/pico_record_20260521_190514_249978330",
  "repo_id": "mocovision/pico_dual_arm",
  "output_root": "/home/sion/work/pico/dataset_lerobot/pico_record_20260521_190514_249978330_teleop20_lerobot",
  "fps": 20,
  "frames": 1199,
  "duration_s": 59.95,
  "start_monotonic_ns": 113305653637587,
  "end_monotonic_ns": 113365646396067,
  "summary_present": true,
  "source_counts": {
    "robot_state": 13136,
    "pico_tracking": 5400,
    "gripper_events": 9
  },
  "sync_abs_error_ms": {
    "robot": {
      "mean": 4.70480278732277,
      "p95": 11.179573599999998,
      "max": 19.507207
    },
    "pico": {
      "mean": 3.5156709115929945,
      "p95": 9.370645799999998,
      "max": 20.55558
    }
  },
  "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."
}