| { |
| "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_video_lerobot", |
| "fps": 20, |
| "frames": 1199, |
| "duration_s": 59.95, |
| "start_monotonic_ns": 113305653637587, |
| "end_monotonic_ns": 113365646396067, |
| "summary_present": true, |
| "include_videos": true, |
| "video_shape": [ |
| 1280, |
| 1280, |
| 3 |
| ], |
| "video_codec": "h264_nvenc", |
| "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 |
| }, |
| "left_camera": { |
| "mean": 10.15178286738949, |
| "p95": 22.57246179999999, |
| "max": 45.941867 |
| }, |
| "right_camera": { |
| "mean": 9.615983839032525, |
| "p95": 22.3336911, |
| "max": 35.205977 |
| } |
| }, |
| "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.", |
| "video_definition": "observation.images.left/right are sampled from raw camera MP4 by nearest camera monotonic timestamp and re-encoded at dataset fps.", |
| "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." |
| } |
|
|
