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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 } } } } } }