| { |
| "summary": { |
| "ok": 4, |
| "warn": 56, |
| "bad": 0, |
| "total": 60 |
| }, |
| "dataset": { |
| "errors": [], |
| "warnings": [] |
| }, |
| "episodes": { |
| "341.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 1 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": 201, |
| "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": 0.05222025513648987, |
| "eef_step_max_m": 0.014731496572494507, |
| "rot_step_max_rad": 0.07766541922770813, |
| "rot_vs_joint_max_rad": 0.004382621022246, |
| "euler_wrap": 1, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.8271428346633911, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.30493736267089844, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 17.04239845275879, |
| "sync_lag_median_ms/right_arm": 17.234086990356445, |
| "sync_jitter_p95_ms/right_arm": 1.7361640930175781 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 22, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "342.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 1 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": 245, |
| "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": 0.058608174324035645, |
| "eef_step_max_m": 0.013776278123259544, |
| "rot_step_max_rad": 0.05063750788155514, |
| "rot_vs_joint_max_rad": 0.00043162119089245124, |
| "euler_wrap": 1, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.7928571701049805, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.2854824066162109, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 15.304088592529297, |
| "sync_lag_median_ms/right_arm": 15.514850616455078, |
| "sync_jitter_p95_ms/right_arm": 1.550006866455078 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 27, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "343.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 9 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": 223, |
| "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": 0.04918336868286133, |
| "eef_step_max_m": 0.012833965942263603, |
| "rot_step_max_rad": 0.06082615898149442, |
| "rot_vs_joint_max_rad": 1.403847098191413e-05, |
| "euler_wrap": 9, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.8428571224212646, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.29475688934326166, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 14.073371887207031, |
| "sync_lag_median_ms/right_arm": 14.278173446655273, |
| "sync_jitter_p95_ms/right_arm": 1.364445686340332 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 25, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "344.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 2 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": 240, |
| "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": 0.050230562686920166, |
| "eef_step_max_m": 0.015685146674513817, |
| "rot_step_max_rad": 0.04381342003125163, |
| "rot_vs_joint_max_rad": 0.003291776369514072, |
| "euler_wrap": 2, |
| "gripper_min": 0.012857142835855484, |
| "gripper_max": 0.7599999904632568, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.2945780754089355, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 12.389421463012695, |
| "sync_lag_median_ms/right_arm": 12.624263763427734, |
| "sync_jitter_p95_ms/right_arm": 2.9809951782226562 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 26, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "345.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 1 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": 228, |
| "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": 0.05513495206832886, |
| "eef_step_max_m": 0.012204272672533989, |
| "rot_step_max_rad": 0.0505343294574672, |
| "rot_vs_joint_max_rad": 2.1850420350143056e-05, |
| "euler_wrap": 1, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.7771428823471069, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.2557158470153808, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.205430030822754, |
| "sync_lag_median_ms/right_arm": 16.422629356384277, |
| "sync_jitter_p95_ms/right_arm": 1.4617681503295896 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 25, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "346.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": 215, |
| "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": 0.07044148445129395, |
| "eef_step_max_m": 0.014396501705050468, |
| "rot_step_max_rad": 0.05430672662793731, |
| "rot_vs_joint_max_rad": 0.0008129921093690644, |
| "euler_wrap": 3, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.7942857146263123, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.3168821334838866, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.481876373291016, |
| "sync_lag_median_ms/right_arm": 16.74962043762207, |
| "sync_jitter_p95_ms/right_arm": 0.9943723678588865 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 24, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "347.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 5 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": 241, |
| "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": 0.06576400250196457, |
| "eef_step_max_m": 0.017217125743627548, |
| "rot_step_max_rad": 0.08461462101685965, |
| "rot_vs_joint_max_rad": 0.007128910082514588, |
| "euler_wrap": 5, |
| "gripper_min": -0.011428571306169033, |
| "gripper_max": 0.75, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.3113746643066406, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.3424015045166, |
| "sync_lag_median_ms/right_arm": 16.544580459594727, |
| "sync_jitter_p95_ms/right_arm": 0.3108978271484375 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 26, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "348.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": 200, |
| "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": 0.045588016510009766, |
| "eef_step_max_m": 0.012705533765256405, |
| "rot_step_max_rad": 0.051713443048143695, |
| "rot_vs_joint_max_rad": 1.752376556410362e-05, |
| "euler_wrap": 3, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.9257143139839172, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.32283067703247037, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 15.113115310668945, |
| "sync_lag_median_ms/right_arm": 15.349388122558594, |
| "sync_jitter_p95_ms/right_arm": 0.9818434715270995 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 22, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "349.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 1 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": 195, |
| "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": 0.06401866674423218, |
| "eef_step_max_m": 0.01597181148827076, |
| "rot_step_max_rad": 0.06373518256124205, |
| "rot_vs_joint_max_rad": 0.0018840704943973025, |
| "euler_wrap": 1, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.8871428370475769, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.2857446670532225, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 15.212774276733398, |
| "sync_lag_median_ms/right_arm": 15.418291091918945, |
| "sync_jitter_p95_ms/right_arm": 0.8234500885009763 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 22, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "350.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 1 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": 231, |
| "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": 0.06693333387374878, |
| "eef_step_max_m": 0.013958378694951534, |
| "rot_step_max_rad": 0.06032419461626669, |
| "rot_vs_joint_max_rad": 0.008208679741808375, |
| "euler_wrap": 1, |
| "gripper_min": 0.0014285714132711291, |
| "gripper_max": 0.831428587436676, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.3230571746826172, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.353607177734375, |
| "sync_lag_median_ms/right_arm": 16.55888557434082, |
| "sync_jitter_p95_ms/right_arm": 2.5434494018554688 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 25, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "351.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 1 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": 225, |
| "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": 0.05815446376800537, |
| "eef_step_max_m": 0.01288537122309208, |
| "rot_step_max_rad": 0.0520860231942186, |
| "rot_vs_joint_max_rad": 0.00034481699762225343, |
| "euler_wrap": 1, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.7942857146263123, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.3037452697753901, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 15.338659286499023, |
| "sync_lag_median_ms/right_arm": 15.565156936645508, |
| "sync_jitter_p95_ms/right_arm": 1.1708259582519531 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 25, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "352.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 5 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": 197, |
| "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": 0.04628613591194153, |
| "eef_step_max_m": 0.017522022128105164, |
| "rot_step_max_rad": 0.04774722503302771, |
| "rot_vs_joint_max_rad": 0.0001715830612531756, |
| "euler_wrap": 5, |
| "gripper_min": 0.0, |
| "gripper_max": 0.7714285850524902, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.2798557281494138, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 12.051105499267578, |
| "sync_lag_median_ms/right_arm": 12.315034866333008, |
| "sync_jitter_p95_ms/right_arm": 3.9130687713623042 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 22, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "353.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 5 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": 197, |
| "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": 0.04646068811416626, |
| "eef_step_max_m": 0.013030367903411388, |
| "rot_step_max_rad": 0.05767831086163979, |
| "rot_vs_joint_max_rad": 3.9447252978847686e-06, |
| "euler_wrap": 5, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.8257142901420593, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.2820491790771484, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 15.851736068725586, |
| "sync_lag_median_ms/right_arm": 16.06917381286621, |
| "sync_jitter_p95_ms/right_arm": 1.976633071899414 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 22, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "354.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 6 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", |
| "sync_jitter: cam_high vs right_arm 1/240 frames 抖动 > 67ms" |
| ], |
| "frames": 240, |
| "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": 0.10707595944404602, |
| "eef_step_max_m": 0.015082127414643764, |
| "rot_step_max_rad": 0.11312313503936339, |
| "rot_vs_joint_max_rad": 0.0005106357031720663, |
| "euler_wrap": 6, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.904285728931427, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.3362417221069334, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 14.880061149597168, |
| "sync_lag_median_ms/right_arm": 15.076875686645508, |
| "sync_jitter_p95_ms/right_arm": 1.7991781234741202 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 26, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "355.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 1 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": 199, |
| "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": 0.05030035972595215, |
| "eef_step_max_m": 0.01450262125581503, |
| "rot_step_max_rad": 0.048367670268847585, |
| "rot_vs_joint_max_rad": 0.0010543975995771903, |
| "euler_wrap": 1, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.904285728931427, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.31805038452148426, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.41368865966797, |
| "sync_lag_median_ms/right_arm": 16.645431518554688, |
| "sync_jitter_p95_ms/right_arm": 1.5306472778320312 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 22, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "356.hdf5": { |
| "status": "ok", |
| "errors": [], |
| "warnings": [], |
| "frames": 199, |
| "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": 0.059027016162872314, |
| "eef_step_max_m": 0.0160633847117424, |
| "rot_step_max_rad": 0.060232982143480926, |
| "rot_vs_joint_max_rad": 0.0023215855277355377, |
| "euler_wrap": 0, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.8985714316368103, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.6699800491333008, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.53003692626953, |
| "sync_lag_median_ms/right_arm": 16.84713363647461, |
| "sync_jitter_p95_ms/right_arm": 1.1779069900512693 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 22, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "357.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 6 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": 203, |
| "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": 0.06663668155670166, |
| "eef_step_max_m": 0.012973698787391186, |
| "rot_step_max_rad": 0.05435158541854425, |
| "rot_vs_joint_max_rad": 0.013078532597814885, |
| "euler_wrap": 6, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.881428599357605, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.9287834167480433, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 11.36922836303711, |
| "sync_lag_median_ms/right_arm": 11.765480041503906, |
| "sync_jitter_p95_ms/right_arm": 2.497410774230956 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 23, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "358.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 2 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": 160, |
| "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": 0.05035275220870972, |
| "eef_step_max_m": 0.015662023797631264, |
| "rot_step_max_rad": 0.06438789806384486, |
| "rot_vs_joint_max_rad": 0.003936587185947944, |
| "euler_wrap": 2, |
| "gripper_min": 0.0, |
| "gripper_max": 0.881428599357605, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.88963508605957, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 15.799999237060547, |
| "sync_lag_median_ms/right_arm": 16.108036041259766, |
| "sync_jitter_p95_ms/right_arm": 1.8447756767272943 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 18, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "359.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": 190, |
| "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": 0.05768311023712158, |
| "eef_step_max_m": 0.015478575602173805, |
| "rot_step_max_rad": 0.06230258153910915, |
| "rot_vs_joint_max_rad": 0.00421393674869012, |
| "euler_wrap": 3, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.854285717010498, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.8817672729492184, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.27063751220703, |
| "sync_lag_median_ms/right_arm": 16.59691333770752, |
| "sync_jitter_p95_ms/right_arm": 1.269865036010742 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 21, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "360.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" |
| ], |
| "frames": 209, |
| "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": 0.05281364917755127, |
| "eef_step_max_m": 0.01305270753800869, |
| "rot_step_max_rad": 0.05543392533301895, |
| "rot_vs_joint_max_rad": 2.0515909602572113e-05, |
| "euler_wrap": 4, |
| "gripper_min": 0.0, |
| "gripper_max": 0.8642857074737549, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.9755134582519528, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 14.980316162109375, |
| "sync_lag_median_ms/right_arm": 15.412092208862305, |
| "sync_jitter_p95_ms/right_arm": 2.2182941436767574 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 23, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "361.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" |
| ], |
| "frames": 169, |
| "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": 0.05335468053817749, |
| "eef_step_max_m": 0.014555996283888817, |
| "rot_step_max_rad": 0.055341273305576304, |
| "rot_vs_joint_max_rad": 0.004202014538468385, |
| "euler_wrap": 4, |
| "gripper_min": 0.0, |
| "gripper_max": 0.9642857313156128, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.8795261383056638, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 14.68038558959961, |
| "sync_lag_median_ms/right_arm": 15.150785446166992, |
| "sync_jitter_p95_ms/right_arm": 2.3027896881103502 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 19, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "362.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": 221, |
| "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": 0.06178465485572815, |
| "eef_step_max_m": 0.01811685971915722, |
| "rot_step_max_rad": 0.07098051599017308, |
| "rot_vs_joint_max_rad": 0.0018381804419553309, |
| "euler_wrap": 3, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.9642857313156128, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.7600784301757812, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.70551300048828, |
| "sync_lag_median_ms/right_arm": 17.18902587890625, |
| "sync_jitter_p95_ms/right_arm": 1.3642311096191406 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 24, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "363.hdf5": { |
| "status": "ok", |
| "errors": [], |
| "warnings": [], |
| "frames": 209, |
| "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": 0.06874847412109375, |
| "eef_step_max_m": 0.020563598722219467, |
| "rot_step_max_rad": 0.08337622401634194, |
| "rot_vs_joint_max_rad": 0.008508982091630743, |
| "euler_wrap": 0, |
| "gripper_min": 0.0, |
| "gripper_max": 0.8600000143051147, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.8271217346191402, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 15.146732330322266, |
| "sync_lag_median_ms/right_arm": 15.569686889648438, |
| "sync_jitter_p95_ms/right_arm": 2.328777313232422 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 23, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "364.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 1 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": 212, |
| "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": 0.056304335594177246, |
| "eef_step_max_m": 0.014242562465369701, |
| "rot_step_max_rad": 0.07075385696087394, |
| "rot_vs_joint_max_rad": 0.009556952432345514, |
| "euler_wrap": 1, |
| "gripper_min": 0.0, |
| "gripper_max": 0.9357143044471741, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.8000135421752924, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 14.7629976272583, |
| "sync_lag_median_ms/right_arm": 15.163421630859375, |
| "sync_jitter_p95_ms/right_arm": 1.6376852989196773 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 23, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "365.hdf5": { |
| "status": "ok", |
| "errors": [], |
| "warnings": [], |
| "frames": 206, |
| "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": 0.049619704484939575, |
| "eef_step_max_m": 0.011701422743499279, |
| "rot_step_max_rad": 0.046290537343582364, |
| "rot_vs_joint_max_rad": 0.0003490266147294233, |
| "euler_wrap": 0, |
| "gripper_min": -0.0028571428265422583, |
| "gripper_max": 0.9328571557998657, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.9595751762390137, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 14.863252639770508, |
| "sync_lag_median_ms/right_arm": 15.245914459228516, |
| "sync_jitter_p95_ms/right_arm": 2.164185047149658 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 23, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "366.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 1 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": 196, |
| "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": 0.06874853372573853, |
| "eef_step_max_m": 0.016142113134264946, |
| "rot_step_max_rad": 0.0523089770351432, |
| "rot_vs_joint_max_rad": 0.009685405332853489, |
| "euler_wrap": 1, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.8585714101791382, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.7433891296386719, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 17.176032066345215, |
| "sync_lag_median_ms/right_arm": 17.48025417327881, |
| "sync_jitter_p95_ms/right_arm": 3.218412399291992 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 22, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "367.hdf5": { |
| "status": "ok", |
| "errors": [], |
| "warnings": [], |
| "frames": 182, |
| "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": 0.061487942934036255, |
| "eef_step_max_m": 0.017090970650315285, |
| "rot_step_max_rad": 0.0750768890321925, |
| "rot_vs_joint_max_rad": 1.92665862152417e-05, |
| "euler_wrap": 0, |
| "gripper_min": 0.0, |
| "gripper_max": 0.8742856979370117, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.7750868797302238, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.457200050354004, |
| "sync_lag_median_ms/right_arm": 16.785621643066406, |
| "sync_jitter_p95_ms/right_arm": 1.309585571289062 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 20, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "368.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 7 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": 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": 0.06621778011322021, |
| "eef_step_max_m": 0.018054408952593803, |
| "rot_step_max_rad": 0.09001349013087176, |
| "rot_vs_joint_max_rad": 9.949351540705642e-05, |
| "euler_wrap": 7, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.9671428799629211, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.7737517356872553, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.385912895202637, |
| "sync_lag_median_ms/right_arm": 16.71302318572998, |
| "sync_jitter_p95_ms/right_arm": 2.3439168930053706 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 24, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "369.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 5 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": 239, |
| "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": 0.054401934146881104, |
| "eef_step_max_m": 0.01400638185441494, |
| "rot_step_max_rad": 0.04781417050361143, |
| "rot_vs_joint_max_rad": 0.002341281014479635, |
| "euler_wrap": 5, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.881428599357605, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.8291244506835938, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.130924224853516, |
| "sync_lag_median_ms/right_arm": 16.408443450927734, |
| "sync_jitter_p95_ms/right_arm": 1.85246467590332 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 26, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "370.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", |
| "gripper_clip_loss: right_arm 30/193 帧开度 >1.0（max=1.0214）。采集侧不截断、下发侧 clip 到 1.0，这些标签真机最多少开 1.5mm，且不会报错" |
| ], |
| "frames": 193, |
| "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": 0.0558854416012764, |
| "eef_step_max_m": 0.012061746791005135, |
| "rot_step_max_rad": 0.05719724325094811, |
| "rot_vs_joint_max_rad": 0.00041374758203092856, |
| "euler_wrap": 3, |
| "gripper_min": 0.0, |
| "gripper_max": 1.0214285850524902, |
| "gripper_over_full": 30 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 1.1143207550048793, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 15.411376953125, |
| "sync_lag_median_ms/right_arm": 15.838384628295898, |
| "sync_jitter_p95_ms/right_arm": 2.036857604980468 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 22, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "371.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 7 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 88/198 帧开度 >1.0（max=1.0029）。采集侧不截断、下发侧 clip 到 1.0，这些标签真机最多少开 0.2mm，且不会报错" |
| ], |
| "frames": 198, |
| "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": 0.05050981044769287, |
| "eef_step_max_m": 0.01308983564376831, |
| "rot_step_max_rad": 0.047404179223464384, |
| "rot_vs_joint_max_rad": 8.24627913923251e-06, |
| "euler_wrap": 7, |
| "gripper_min": 0.0, |
| "gripper_max": 1.0028570890426636, |
| "gripper_over_full": 88 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.9514212608337385, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 14.111995697021484, |
| "sync_lag_median_ms/right_arm": 14.481186866760254, |
| "sync_jitter_p95_ms/right_arm": 3.438508510589599 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 22, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "372.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 6 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": 202, |
| "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": 0.06059783697128296, |
| "eef_step_max_m": 0.01494547352194786, |
| "rot_step_max_rad": 0.061615952410143476, |
| "rot_vs_joint_max_rad": 1.5328525576910335e-05, |
| "euler_wrap": 6, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.9485714435577393, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.7906317710876463, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 17.45140552520752, |
| "sync_lag_median_ms/right_arm": 17.798423767089844, |
| "sync_jitter_p95_ms/right_arm": 1.4822721481323238 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 22, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "373.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" |
| ], |
| "frames": 203, |
| "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": 0.0475427508354187, |
| "eef_step_max_m": 0.0128353675827384, |
| "rot_step_max_rad": 0.05678724189341659, |
| "rot_vs_joint_max_rad": 7.052386520239439e-06, |
| "euler_wrap": 4, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.9485714435577393, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.8601665496826159, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.42465591430664, |
| "sync_lag_median_ms/right_arm": 16.7999267578125, |
| "sync_jitter_p95_ms/right_arm": 1.5681743621826167 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 23, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "374.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 7 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": 253, |
| "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": 0.053267478942871094, |
| "eef_step_max_m": 0.012460281141102314, |
| "rot_step_max_rad": 0.04736350584113721, |
| "rot_vs_joint_max_rad": 0.00023542267109083644, |
| "euler_wrap": 7, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.8371428847312927, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.9543895721435545, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.57414436340332, |
| "sync_lag_median_ms/right_arm": 16.910314559936523, |
| "sync_jitter_p95_ms/right_arm": 1.3835430145263665 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 28, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "375.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 1 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": 220, |
| "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": 0.06276202201843262, |
| "eef_step_max_m": 0.012694011442363262, |
| "rot_step_max_rad": 0.06830461587233358, |
| "rot_vs_joint_max_rad": 0.015124427931736045, |
| "euler_wrap": 1, |
| "gripper_min": 0.0, |
| "gripper_max": 0.8757143020629883, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.7501363754272456, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 14.768481254577637, |
| "sync_lag_median_ms/right_arm": 15.208125114440918, |
| "sync_jitter_p95_ms/right_arm": 2.1055459976196276 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 24, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "376.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 5 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": 216, |
| "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": 0.0584510862827301, |
| "eef_step_max_m": 0.013416127301752567, |
| "rot_step_max_rad": 0.0499720345613014, |
| "rot_vs_joint_max_rad": 1.5766799103231026e-05, |
| "euler_wrap": 5, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.8928571343421936, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.8053183555603027, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.879796981811523, |
| "sync_lag_median_ms/right_arm": 17.3184871673584, |
| "sync_jitter_p95_ms/right_arm": 1.5701055526733398 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 24, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "377.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 2 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": 222, |
| "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": 0.048572540283203125, |
| "eef_step_max_m": 0.014691013842821121, |
| "rot_step_max_rad": 0.04629044317783674, |
| "rot_vs_joint_max_rad": 6.841752957631193e-06, |
| "euler_wrap": 2, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.7928571701049805, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.8770108222961426, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 14.923572540283203, |
| "sync_lag_median_ms/right_arm": 15.33365249633789, |
| "sync_jitter_p95_ms/right_arm": 1.8131136894226068 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 24, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "378.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 1 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": 187, |
| "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": 0.04872959852218628, |
| "eef_step_max_m": 0.012288904748857021, |
| "rot_step_max_rad": 0.045223179236868395, |
| "rot_vs_joint_max_rad": 8.514155235842674e-06, |
| "euler_wrap": 1, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.7928571701049805, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.8655786514282225, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 14.920711517333984, |
| "sync_lag_median_ms/right_arm": 15.312671661376953, |
| "sync_jitter_p95_ms/right_arm": 2.7970075607299774 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 20, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "379.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" |
| ], |
| "frames": 235, |
| "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": 0.05386090278625488, |
| "eef_step_max_m": 0.01664150133728981, |
| "rot_step_max_rad": 0.06658188457358172, |
| "rot_vs_joint_max_rad": 0.002297852289869347, |
| "euler_wrap": 4, |
| "gripper_min": -0.011428571306169033, |
| "gripper_max": 0.7928571701049805, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 1.0084629058837884, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.658306121826172, |
| "sync_lag_median_ms/right_arm": 17.048120498657227, |
| "sync_jitter_p95_ms/right_arm": 2.8300046920776354 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 26, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "380.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 7 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": 252, |
| "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": 0.0503353476524353, |
| "eef_step_max_m": 0.011647619307041168, |
| "rot_step_max_rad": 0.04334045310133821, |
| "rot_vs_joint_max_rad": 0.002777959820434375, |
| "euler_wrap": 7, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.75, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.9295940399169922, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 15.645146369934082, |
| "sync_lag_median_ms/right_arm": 15.954852104187012, |
| "sync_jitter_p95_ms/right_arm": 1.9248604774475098 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 27, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "381.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": 271, |
| "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": 0.06272715330123901, |
| "eef_step_max_m": 0.013714601285755634, |
| "rot_step_max_rad": 0.055670680266991915, |
| "rot_vs_joint_max_rad": 0.0008702947159056158, |
| "euler_wrap": 3, |
| "gripper_min": 0.0, |
| "gripper_max": 0.881428599357605, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.805974006652832, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.458988189697266, |
| "sync_lag_median_ms/right_arm": 16.77703857421875, |
| "sync_jitter_p95_ms/right_arm": 1.5041828155517578 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 30, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "382.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 6 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": 271, |
| "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": 0.0472286194562912, |
| "eef_step_max_m": 0.012179934419691563, |
| "rot_step_max_rad": 0.04903886289617854, |
| "rot_vs_joint_max_rad": 0.0019307823549907554, |
| "euler_wrap": 6, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.8428571224212646, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.8467435836791992, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.490936279296875, |
| "sync_lag_median_ms/right_arm": 16.840696334838867, |
| "sync_jitter_p95_ms/right_arm": 1.689910888671875 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 30, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "383.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 5 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": 225, |
| "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": 0.059288837015628815, |
| "eef_step_max_m": 0.01459510251879692, |
| "rot_step_max_rad": 0.05663129819613663, |
| "rot_vs_joint_max_rad": 0.00018252419757688876, |
| "euler_wrap": 5, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.8428571224212646, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.8139610290527332, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.4029598236084, |
| "sync_lag_median_ms/right_arm": 16.74056053161621, |
| "sync_jitter_p95_ms/right_arm": 1.3208866119384763 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 25, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "384.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" |
| ], |
| "frames": 189, |
| "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": 0.06757915019989014, |
| "eef_step_max_m": 0.014559250324964523, |
| "rot_step_max_rad": 0.05658276337155701, |
| "rot_vs_joint_max_rad": 0.0025457890586700407, |
| "euler_wrap": 4, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.8100000023841858, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.7188320159912109, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.581058502197266, |
| "sync_lag_median_ms/right_arm": 16.919374465942383, |
| "sync_jitter_p95_ms/right_arm": 1.410579681396484 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 21, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "385.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 8 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": 182, |
| "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": 0.053686320781707764, |
| "eef_step_max_m": 0.010441523976624012, |
| "rot_step_max_rad": 0.05385904540579841, |
| "rot_vs_joint_max_rad": 2.031258028966146e-05, |
| "euler_wrap": 8, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.9371428489685059, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.6666421890258789, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.381263732910156, |
| "sync_lag_median_ms/right_arm": 16.74354076385498, |
| "sync_jitter_p95_ms/right_arm": 1.2776374816894522 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 20, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "386.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": 268, |
| "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": 0.05089384317398071, |
| "eef_step_max_m": 0.010866387747228146, |
| "rot_step_max_rad": 0.04332888605354006, |
| "rot_vs_joint_max_rad": 0.003651396567589865, |
| "euler_wrap": 3, |
| "gripper_min": 0.0, |
| "gripper_max": 0.9399999976158142, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.7619976997375487, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.335248947143555, |
| "sync_lag_median_ms/right_arm": 16.65019989013672, |
| "sync_jitter_p95_ms/right_arm": 2.521121501922607 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 30, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "387.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" |
| ], |
| "frames": 229, |
| "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": 0.07824312150478363, |
| "eef_step_max_m": 0.016307668760418892, |
| "rot_step_max_rad": 0.057921269675539205, |
| "rot_vs_joint_max_rad": 2.396440246388385e-05, |
| "euler_wrap": 4, |
| "gripper_min": 0.0, |
| "gripper_max": 0.9214285612106323, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.7914543151855469, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.946792602539062, |
| "sync_lag_median_ms/right_arm": 17.24696159362793, |
| "sync_jitter_p95_ms/right_arm": 1.391935348510742 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 25, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "388.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" |
| ], |
| "frames": 205, |
| "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": 0.049096107482910156, |
| "eef_step_max_m": 0.013653305359184742, |
| "rot_step_max_rad": 0.03917689093096544, |
| "rot_vs_joint_max_rad": 0.000977786234633544, |
| "euler_wrap": 4, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.8871428370475769, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.800180435180663, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.55125617980957, |
| "sync_lag_median_ms/right_arm": 16.907930374145508, |
| "sync_jitter_p95_ms/right_arm": 1.5758037567138665 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 23, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "389.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" |
| ], |
| "frames": 257, |
| "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": 0.06356489658355713, |
| "eef_step_max_m": 0.01496436819434166, |
| "rot_step_max_rad": 0.05996968005366522, |
| "rot_vs_joint_max_rad": 2.045481127907131e-05, |
| "euler_wrap": 4, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.8871428370475769, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.8819103240966786, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 14.533042907714844, |
| "sync_lag_median_ms/right_arm": 14.898538589477539, |
| "sync_jitter_p95_ms/right_arm": 2.2327423095703125 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 29, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "390.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" |
| ], |
| "frames": 184, |
| "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": 0.05597269535064697, |
| "eef_step_max_m": 0.014658714644610882, |
| "rot_step_max_rad": 0.05980899993947712, |
| "rot_vs_joint_max_rad": 0.00331946375174599, |
| "euler_wrap": 4, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.9642857313156128, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.734126567840576, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 17.573952674865723, |
| "sync_lag_median_ms/right_arm": 17.958998680114746, |
| "sync_jitter_p95_ms/right_arm": 1.6315460205078125 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 20, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "391.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": 177, |
| "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": 0.0457974374294281, |
| "eef_step_max_m": 0.01572093553841114, |
| "rot_step_max_rad": 0.04821476614126139, |
| "rot_vs_joint_max_rad": 1.5439832643603275e-05, |
| "euler_wrap": 3, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.9700000286102295, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.7442474365234371, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 17.692089080810547, |
| "sync_lag_median_ms/right_arm": 17.974376678466797, |
| "sync_jitter_p95_ms/right_arm": 1.6277790069580078 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 19, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "392.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 1 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": 175, |
| "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": 0.0797615647315979, |
| "eef_step_max_m": 0.015394175425171852, |
| "rot_step_max_rad": 0.07212738271560917, |
| "rot_vs_joint_max_rad": 0.0009787097824946085, |
| "euler_wrap": 1, |
| "gripper_min": 0.0, |
| "gripper_max": 0.9200000166893005, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.8258581161499016, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.362905502319336, |
| "sync_lag_median_ms/right_arm": 16.681909561157227, |
| "sync_jitter_p95_ms/right_arm": 1.4754772186279275 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 19, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "393.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": 199, |
| "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": 0.08358383178710938, |
| "eef_step_max_m": 0.014876648783683777, |
| "rot_step_max_rad": 0.060470715026898283, |
| "rot_vs_joint_max_rad": 0.0002292312295372849, |
| "euler_wrap": 3, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.8828571438789368, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.6746768951416015, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.509056091308594, |
| "sync_lag_median_ms/right_arm": 16.829729080200195, |
| "sync_jitter_p95_ms/right_arm": 1.9546508789062496 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 22, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "394.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 1 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": 181, |
| "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": 0.060981810092926025, |
| "eef_step_max_m": 0.01330981869250536, |
| "rot_step_max_rad": 0.04542159985384439, |
| "rot_vs_joint_max_rad": 0.0018609242890669446, |
| "euler_wrap": 1, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.9585714340209961, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 1.0950565338134766, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 15.067338943481445, |
| "sync_lag_median_ms/right_arm": 15.592813491821289, |
| "sync_jitter_p95_ms/right_arm": 1.8863677978515625 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 20, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "395.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 2 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": 215, |
| "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": 0.055623650550842285, |
| "eef_step_max_m": 0.01533057726919651, |
| "rot_step_max_rad": 0.04974436154600744, |
| "rot_vs_joint_max_rad": 0.0009227810184216714, |
| "euler_wrap": 2, |
| "gripper_min": 0.0, |
| "gripper_max": 0.9585714340209961, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.6977796554565429, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 15.561580657958984, |
| "sync_lag_median_ms/right_arm": 15.85841178894043, |
| "sync_jitter_p95_ms/right_arm": 1.1577606201171864 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 24, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "396.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 6 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": 189, |
| "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": 0.06930702179670334, |
| "eef_step_max_m": 0.014725453220307827, |
| "rot_step_max_rad": 0.07326117286761931, |
| "rot_vs_joint_max_rad": 2.0069820907789825e-05, |
| "euler_wrap": 6, |
| "gripper_min": -0.0057142856530845165, |
| "gripper_max": 0.9971428513526917, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.6420135498046874, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 16.493558883666992, |
| "sync_lag_median_ms/right_arm": 16.819238662719727, |
| "sync_jitter_p95_ms/right_arm": 1.1263370513916013 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 21, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "397.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 2 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": 0.08946557343006134, |
| "eef_step_max_m": 0.02379770018160343, |
| "rot_step_max_rad": 0.08611953865055968, |
| "rot_vs_joint_max_rad": 0.01416924736549234, |
| "euler_wrap": 2, |
| "gripper_min": -0.004285714123398066, |
| "gripper_max": 0.9971428513526917, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.7120132446289057, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 15.07115364074707, |
| "sync_lag_median_ms/right_arm": 15.403509140014648, |
| "sync_jitter_p95_ms/right_arm": 2.000200748443603 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 25, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "398.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" |
| ], |
| "frames": 191, |
| "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": 0.05899214744567871, |
| "eef_step_max_m": 0.013485560193657875, |
| "rot_step_max_rad": 0.04378239720793681, |
| "rot_vs_joint_max_rad": 1.3517736761983236e-05, |
| "euler_wrap": 4, |
| "gripper_min": 0.0, |
| "gripper_max": 0.9757142663002014, |
| "gripper_over_full": 0 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.9239912033081055, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 13.777732849121094, |
| "sync_lag_median_ms/right_arm": 14.160394668579102, |
| "sync_jitter_p95_ms/right_arm": 1.6436576843261719 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 21, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "399.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", |
| "gripper_clip_loss: right_arm 27/192 帧开度 >1.0（max=1.0200）。采集侧不截断、下发侧 clip 到 1.0，这些标签真机最多少开 1.4mm，且不会报错" |
| ], |
| "frames": 192, |
| "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": 0.06457722187042236, |
| "eef_step_max_m": 0.014876611530780792, |
| "rot_step_max_rad": 0.05787652922926343, |
| "rot_vs_joint_max_rad": 1.701096658898553e-06, |
| "euler_wrap": 3, |
| "gripper_min": 0.04285714402794838, |
| "gripper_max": 1.0199999809265137, |
| "gripper_over_full": 27 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 1.0050177574157706, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 14.838933944702148, |
| "sync_lag_median_ms/right_arm": 15.226364135742188, |
| "sync_jitter_p95_ms/right_arm": 2.783882617950438 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 21, |
| "blur": 0 |
| } |
| } |
| } |
| }, |
| "400.hdf5": { |
| "status": "warn", |
| "errors": [], |
| "warnings": [ |
| "euler_wrap: right_arm 2 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 70/192 帧开度 >1.0（max=1.0086）。采集侧不截断、下发侧 clip 到 1.0，这些标签真机最多少开 0.6mm，且不会报错" |
| ], |
| "frames": 192, |
| "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": 0.06757915019989014, |
| "eef_step_max_m": 0.013536115176975727, |
| "rot_step_max_rad": 0.04952143682709684, |
| "rot_vs_joint_max_rad": 0.0006063296564531619, |
| "euler_wrap": 2, |
| "gripper_min": 0.025714285671710968, |
| "gripper_max": 1.0085713863372803, |
| "gripper_over_full": 70 |
| } |
| }, |
| "timestamps": { |
| "cam_high": { |
| "cache_age_p95_ms": 0.6995797157287597, |
| "capture_ts_reuse": 0, |
| "capture_receive_median_ms": 15.530705451965332, |
| "sync_lag_median_ms/right_arm": 15.9071683883667, |
| "sync_jitter_p95_ms/right_arm": 1.4606356620788572 |
| } |
| }, |
| "images": { |
| "cam_high": { |
| "dup_ratio": 0.0, |
| "max_dup_run": 0, |
| "frozen": 0, |
| "dark": 0, |
| "bright": 0, |
| "flat": 0, |
| "blur_sampled": 21, |
| "blur": 0 |
| } |
| } |
| } |
| } |
| } |
| } |
