File size: 5,261 Bytes
8cd5a51 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 | {
"raw_dir": "/home/sion/work/pico/debug/pico_workstation_service/recordings/record_20260526_165905_697933683",
"episode_count": 2,
"episodes": [
{
"episode_index": 0,
"raw_dir": "/home/sion/work/pico/debug/pico_workstation_service/recordings/record_20260526_165905_697933683/episode_000000",
"frames": 767,
"duration_s": 38.35,
"start_monotonic_ns": 537957660295324,
"end_monotonic_ns": 537996059881431,
"summary_present": true,
"source_counts": {
"robot_state": 2305,
"pico_tracking": 3457,
"gripper_events": 4
},
"sync_abs_error_ms": {
"robot": {
"mean": 1.632014267275098,
"p95": 1.6408685,
"max": 1.693926
},
"pico": {
"mean": 2.7597013741851373,
"p95": 5.4335814,
"max": 6.641897
},
"left_camera": {
"mean": 8.337301778357237,
"p95": 15.897611300000001,
"max": 17.424309
},
"right_camera": {
"mean": 8.35059122946545,
"p95": 16.7529927,
"max": 16.904489
}
},
"origin_state": [
2.702479124069214,
-1.34218168258667,
1.1294472217559814,
2.0853991508483887,
1.0475409030914307,
-0.7458723783493042,
0.4810473620891571,
-1.41884183883667,
-1.3230156898498535,
-2.3032891750335693,
1.062617301940918,
-2.3727993965148926,
80.0,
0.0
],
"origin_action": [
-0.163718581199646,
-0.4466119408607483,
-0.1393386870622635,
0.06553179770708084,
0.07995320111513138,
0.039652589708566666,
0.9938514828681946,
0.09387203305959702,
-0.4242400527000427,
-0.1702209860086441,
0.06894133985042572,
0.032287731766700745,
-0.04202236980199814,
0.9962121844291687,
80.0,
0.0
]
},
{
"episode_index": 1,
"raw_dir": "/home/sion/work/pico/debug/pico_workstation_service/recordings/record_20260526_165905_697933683/episode_000001",
"frames": 1305,
"duration_s": 65.25,
"start_monotonic_ns": 538004863220011,
"end_monotonic_ns": 538070140600862,
"summary_present": true,
"source_counts": {
"robot_state": 3918,
"pico_tracking": 5866,
"gripper_events": 12
},
"sync_abs_error_ms": {
"robot": {
"mean": 1.5248246306513409,
"p95": 1.5404038,
"max": 1.593708
},
"pico": {
"mean": 2.8806099118773942,
"p95": 5.5727318,
"max": 43.804557
},
"left_camera": {
"mean": 8.3475185348659,
"p95": 15.8664962,
"max": 17.519756
},
"right_camera": {
"mean": 8.411380449042145,
"p95": 16.9324408,
"max": 17.018362
}
},
"origin_state": [
2.7027089595794678,
-1.3420418500900269,
1.1293878555297852,
2.0851902961730957,
1.0476890802383423,
-0.7457646727561951,
0.48103833198547363,
-1.4189410209655762,
-1.3229941129684448,
-2.3032758235931396,
1.062563419342041,
-2.372833013534546,
0.0,
0.0
],
"origin_action": [
-0.18321046233177185,
-0.5197787880897522,
-0.14048433303833008,
-0.06180393323302269,
0.1431645154953003,
0.012885469011962414,
0.9876832365989685,
0.13081978261470795,
-0.49380412697792053,
-0.1657506823539734,
-0.03350880369544029,
0.028369812294840813,
-0.002162802964448929,
0.9990333914756775,
0.0,
0.0
]
}
],
"repo_id": "mocovision/pico_dual_arm_record_20260526_165905_delta",
"output_root": "/home/sion/work/pico/dataset_lerobot/record_20260526_165905_697933683_first_frame_delta",
"fps": 20,
"frames": 2072,
"duration_s": 103.6,
"include_videos": true,
"video_shape": [
1280,
1280,
3
],
"video_codec": "h264_nvenc",
"first_frame_delta": true,
"state_definition": "left robot joints rad[6], right robot joints rad[6], latest left gripper target width mm, latest right gripper target width mm. State is kept as original robot joint information and is not converted to first-frame delta.",
"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. With --first-frame-delta, controller xyz is relative to the first sampled frame and quaternion is relative rotation; identity [0,0,0,1] means zero rotation. Gripper widths remain absolute 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."
}
|