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| "flat": 0, |
| "blur_sampled": 25, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "339.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 3 ticks 欧拉分量数值跳变 >π 而物理旋转很小；robokit RLDS 用相对旋转算 delta 不受影响，任何直接对欧拉数值做差的消费方（旧转换脚本/曲线判读）会读到假跳变" |
| ], |
| "frames": 232, |
| "metrics": { |
| "schema": { |
| "task_name": "stack cups", |
| "freq": 30.0, |
| "cams": { |
| "cam_high": [ |
| 240, |
| 320, |
| 3 |
| ] |
| }, |
| "arms": { |
| "right_arm": 6 |
| }, |
| "eef": [ |
| "right_arm" |
| ] |
| }, |
| "arms": { |
| "right_arm": { |
| "joint_step_max_rad": 0.0604931116104126, |
| "eef_step_max_m": 0.015327585861086845, |
| "rot_step_max_rad": 0.05455336663458544, |
| "rot_vs_joint_max_rad": 0.0013916835481074807, |
| "euler_wrap": 3, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.8157142996788025, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.7589578628540038, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.14701747894287, |
| "sync_lag_median_ms/right_arm": 16.437888145446777, |
| "sync_jitter_p95_ms/right_arm": 1.8035411834716792 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 25, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "340.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 4 ticks 欧拉分量数值跳变 >π 而物理旋转很小；robokit RLDS 用相对旋转算 delta 不受影响，任何直接对欧拉数值做差的消费方（旧转换脚本/曲线判读）会读到假跳变", |
| "gripper_clip_loss: right_arm 21/218 帧开度 >1.0（max=1.0357）。采集侧不截断、下发侧 clip 到 1.0，这些标签真机最多少开 2.5mm，且不会报错" |
| ], |
| "frames": 218, |
| "metrics": { |
| "schema": { |
| "task_name": "stack cups", |
| "freq": 30.0, |
| "cams": { |
| "cam_high": [ |
| 240, |
| 320, |
| 3 |
| ] |
| }, |
| "arms": { |
| "right_arm": 6 |
| }, |
| "eef": [ |
| "right_arm" |
| ] |
| }, |
| "arms": { |
| "right_arm": { |
| "joint_step_max_rad": 0.054314643144607544, |
| "eef_step_max_m": 0.013414813205599785, |
| "rot_step_max_rad": 0.04633976203401257, |
| "rot_vs_joint_max_rad": 1.720455942029334e-05, |
| "euler_wrap": 4, |
| "gripper_min": 0.004285714123398066, |
| "gripper_max": 1.0357142686843872, |
| "gripper_over_full": 21 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.7486104965209958, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 17.29118824005127, |
| "sync_lag_median_ms/right_arm": 17.647385597229004, |
| "sync_jitter_p95_ms/right_arm": 1.405966281890869 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 24, |
| "blur": 0 |
| } |
| } |
| } |
| } |
| } |
| } |
