Add files using upload-large-folder tool
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .recording_staging/_committed/episode-000000-be990bcd/manifest.json +222 -0
- .recording_staging/_committed/episode-000000-be990bcd/timing.json +120 -0
- .recording_staging/_committed/episode-000001-371e300c/manifest.json +230 -0
- .recording_staging/_committed/episode-000001-371e300c/timing.json +124 -0
- .recording_staging/_committed/episode-000001-b3d82026/manifest.json +230 -0
- .recording_staging/_committed/episode-000001-b3d82026/timing.json +124 -0
- .recording_staging/_committed/episode-000003-b6de8cc9/manifest.json +222 -0
- .recording_staging/_committed/episode-000003-b6de8cc9/timing.json +120 -0
- .recording_staging/_committed/episode-000003-be9d07e2/manifest.json +230 -0
- .recording_staging/_committed/episode-000003-be9d07e2/timing.json +124 -0
- .recording_staging/_committed/episode-000004-1b032ea4/manifest.json +222 -0
- .recording_staging/_committed/episode-000004-1b032ea4/timing.json +120 -0
- .recording_staging/_committed/episode-000004-77660748/manifest.json +222 -0
- .recording_staging/_committed/episode-000004-77660748/timing.json +120 -0
- .recording_staging/_committed/episode-000005-af39a3ed/manifest.json +222 -0
- .recording_staging/_committed/episode-000005-af39a3ed/timing.json +120 -0
- .recording_staging/_committed/episode-000006-bc4f8887/manifest.json +222 -0
- .recording_staging/_committed/episode-000006-bc4f8887/timing.json +120 -0
- .recording_staging/_committed/episode-000008-8107d88b/manifest.json +222 -0
- .recording_staging/_committed/episode-000008-8107d88b/timing.json +120 -0
- .recording_staging/_committed/episode-000008-d5484f84/manifest.json +230 -0
- .recording_staging/_committed/episode-000008-d5484f84/timing.json +124 -0
- .recording_staging/_committed/episode-000009-2957d807/manifest.json +222 -0
- .recording_staging/_committed/episode-000009-2957d807/timing.json +120 -0
- .recording_staging/_committed/episode-000009-c9ea57cf/manifest.json +230 -0
- .recording_staging/_committed/episode-000009-c9ea57cf/timing.json +124 -0
- .recording_staging/_committed/episode-000010-b3348a09/timing.json +120 -0
- .recording_staging/_committed/episode-000011-4cacfdb4/manifest.json +238 -0
- .recording_staging/_committed/episode-000011-4cacfdb4/timing.json +128 -0
- .recording_staging/_committed/episode-000011-e2ef201d/manifest.json +238 -0
- .recording_staging/_committed/episode-000011-e2ef201d/timing.json +128 -0
- .recording_staging/_committed/episode-000012-56b70ad8/manifest.json +230 -0
- .recording_staging/_committed/episode-000012-56b70ad8/timing.json +124 -0
- .recording_staging/_committed/episode-000013-21632ccc/manifest.json +238 -0
- .recording_staging/_committed/episode-000013-21632ccc/timing.json +128 -0
- .recording_staging/_committed/episode-000014-ee4a432d/manifest.json +230 -0
- .recording_staging/_committed/episode-000014-ee4a432d/timing.json +124 -0
- .recording_staging/_committed/episode-000015-bd8ec32e/manifest.json +230 -0
- .recording_staging/_committed/episode-000015-bd8ec32e/timing.json +124 -0
- .recording_staging/_committed/episode-000016-adbbe9dc/manifest.json +230 -0
- .recording_staging/_committed/episode-000016-adbbe9dc/timing.json +124 -0
- .recording_staging/_committed/episode-000017-9d75eb28/manifest.json +230 -0
- .recording_staging/_committed/episode-000017-9d75eb28/timing.json +124 -0
- .recording_staging/_committed/episode-000019-244a6e7e/timing.json +124 -0
- .recording_staging/_committed/episode-000020-d3773a88/manifest.json +222 -0
- .recording_staging/_committed/episode-000020-d3773a88/timing.json +120 -0
- .recording_staging/_committed/episode-000021-7d1755f2/manifest.json +230 -0
- .recording_staging/_committed/episode-000021-7d1755f2/timing.json +124 -0
- .recording_staging/_committed/episode-000022-1de2ae1f/manifest.json +230 -0
- .recording_staging/_committed/episode-000022-1de2ae1f/timing.json +124 -0
.recording_staging/_committed/episode-000000-be990bcd/manifest.json
ADDED
|
@@ -0,0 +1,222 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 1,
|
| 5 |
+
"created_at": 1786064213.7467616,
|
| 6 |
+
"episode_index": 1,
|
| 7 |
+
"episode_len": 106,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 3.533s of video but 106 frames at 15 fps is 7.067s (drift 3533 ms > 100 ms)",
|
| 9 |
+
"failed_take": true,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 0,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786062804.384569,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 178,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 0,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
3,
|
| 60 |
+
109
|
| 61 |
+
]
|
| 62 |
+
],
|
| 63 |
+
"t0_wall_s": 1786062804.284569,
|
| 64 |
+
"take_id": "e246d0fc",
|
| 65 |
+
"window": [
|
| 66 |
+
0,
|
| 67 |
+
176
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"source_episode_index": 0,
|
| 71 |
+
"state": "committed",
|
| 72 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack_failed/svo/session_e246d0fc",
|
| 73 |
+
"svo_pulled": true,
|
| 74 |
+
"tactile_enabled": false,
|
| 75 |
+
"take_id": "be990bcd",
|
| 76 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack_failed",
|
| 77 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 78 |
+
"timesync": {
|
| 79 |
+
"offset_s": -67313034.32310146,
|
| 80 |
+
"rtt_s": 0.001900413,
|
| 81 |
+
"uncertainty_s": 0.000896799
|
| 82 |
+
},
|
| 83 |
+
"timing": {
|
| 84 |
+
"cameras": {
|
| 85 |
+
"observation.images.agent_stereo": {
|
| 86 |
+
"held_camera": 39,
|
| 87 |
+
"held_slots": 39,
|
| 88 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 89 |
+
"imu_samples": 280914,
|
| 90 |
+
"missing_camera": 0,
|
| 91 |
+
"missing_fraction": 0.0,
|
| 92 |
+
"pre_roll_ns": 16666667,
|
| 93 |
+
"residual_median_s": 0.01136502,
|
| 94 |
+
"residual_p95_s": 0.044706332,
|
| 95 |
+
"samples_after_trim": 27376,
|
| 96 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 97 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 98 |
+
"total_slots": 106,
|
| 99 |
+
"trimmed_before_t0": 10
|
| 100 |
+
},
|
| 101 |
+
"observation.images.front_stereo": {
|
| 102 |
+
"held_camera": 41,
|
| 103 |
+
"held_slots": 41,
|
| 104 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 105 |
+
"imu_samples": 275938,
|
| 106 |
+
"missing_camera": 0,
|
| 107 |
+
"missing_fraction": 0.0,
|
| 108 |
+
"pre_roll_ns": 16666667,
|
| 109 |
+
"residual_median_s": 0.015900232,
|
| 110 |
+
"residual_p95_s": 0.050756146,
|
| 111 |
+
"samples_after_trim": 27369,
|
| 112 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 113 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 114 |
+
"total_slots": 106,
|
| 115 |
+
"trimmed_before_t0": 8
|
| 116 |
+
},
|
| 117 |
+
"observation.images.left_stereo": {
|
| 118 |
+
"held_camera": 41,
|
| 119 |
+
"held_slots": 41,
|
| 120 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 121 |
+
"imu_samples": 276511,
|
| 122 |
+
"missing_camera": 0,
|
| 123 |
+
"missing_fraction": 0.0,
|
| 124 |
+
"pre_roll_ns": 16666667,
|
| 125 |
+
"residual_median_s": 0.015881232000000002,
|
| 126 |
+
"residual_p95_s": 0.046423082,
|
| 127 |
+
"samples_after_trim": 27369,
|
| 128 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 129 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 130 |
+
"total_slots": 106,
|
| 131 |
+
"trimmed_before_t0": 11
|
| 132 |
+
},
|
| 133 |
+
"observation.images.wrist_stereo": {
|
| 134 |
+
"held_camera": 39,
|
| 135 |
+
"held_slots": 39,
|
| 136 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 137 |
+
"imu_samples": 280753,
|
| 138 |
+
"missing_camera": 0,
|
| 139 |
+
"missing_fraction": 0.0,
|
| 140 |
+
"pre_roll_ns": 16666667,
|
| 141 |
+
"residual_median_s": 0.011353268,
|
| 142 |
+
"residual_p95_s": 0.044691706000000005,
|
| 143 |
+
"samples_after_trim": 27371,
|
| 144 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 145 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 146 |
+
"total_slots": 106,
|
| 147 |
+
"trimmed_before_t0": 9
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"fps": 30.0,
|
| 151 |
+
"frame_times_s": {
|
| 152 |
+
"count": 106,
|
| 153 |
+
"first": 1786062804.384569,
|
| 154 |
+
"last": 1786062807.884569,
|
| 155 |
+
"spliced": true
|
| 156 |
+
},
|
| 157 |
+
"imu_dir": "imu",
|
| 158 |
+
"jetson_folder": "take_e246d0fc",
|
| 159 |
+
"n_frames": 106,
|
| 160 |
+
"record_ack_wall_s": 1786062804.384569,
|
| 161 |
+
"session": {
|
| 162 |
+
"clip_index": 0,
|
| 163 |
+
"n_clips": 34,
|
| 164 |
+
"segments": [
|
| 165 |
+
[
|
| 166 |
+
3,
|
| 167 |
+
109
|
| 168 |
+
]
|
| 169 |
+
],
|
| 170 |
+
"take_id": "e246d0fc",
|
| 171 |
+
"window": [
|
| 172 |
+
0,
|
| 173 |
+
176
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"spliced": true,
|
| 177 |
+
"t0_image_ns": 1718749770061467392,
|
| 178 |
+
"timesync": {
|
| 179 |
+
"offset_s": -67313034.32310146,
|
| 180 |
+
"rtt_s": 0.001900413,
|
| 181 |
+
"uncertainty_s": 0.000896799
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"trajectory_alignment": {
|
| 185 |
+
"clamped_frames": 0,
|
| 186 |
+
"fps": 30.0,
|
| 187 |
+
"frames": 106,
|
| 188 |
+
"gap_max_s": 0.013948678970336914,
|
| 189 |
+
"gap_median_s": 0.005070805549621582,
|
| 190 |
+
"gap_p95_s": 0.009502291679382324,
|
| 191 |
+
"query_span_s": [
|
| 192 |
+
1786062804.384569,
|
| 193 |
+
1786062807.884569
|
| 194 |
+
],
|
| 195 |
+
"seams": null,
|
| 196 |
+
"sidecar_samples": 178,
|
| 197 |
+
"sidecar_span_s": [
|
| 198 |
+
1786062804.383847,
|
| 199 |
+
1786062807.9234972
|
| 200 |
+
],
|
| 201 |
+
"spliced": true
|
| 202 |
+
},
|
| 203 |
+
"updated_at": 1786409924.7072148,
|
| 204 |
+
"video_files": {
|
| 205 |
+
"observation.images.agent_stereo": {
|
| 206 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 207 |
+
"stats": null
|
| 208 |
+
},
|
| 209 |
+
"observation.images.front_stereo": {
|
| 210 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 211 |
+
"stats": null
|
| 212 |
+
},
|
| 213 |
+
"observation.images.left_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.wrist_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
}
|
.recording_staging/_committed/episode-000000-be990bcd/timing.json
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 39,
|
| 6 |
+
"total_slots": 106,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.011353268,
|
| 9 |
+
"residual_p95_s": 0.044691706000000005,
|
| 10 |
+
"held_slots": 39,
|
| 11 |
+
"trimmed_before_t0": 9,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 27371,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_samples": 280753,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 39,
|
| 22 |
+
"total_slots": 106,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.01136502,
|
| 25 |
+
"residual_p95_s": 0.044706332,
|
| 26 |
+
"held_slots": 39,
|
| 27 |
+
"trimmed_before_t0": 10,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 27376,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_samples": 280914,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 41,
|
| 38 |
+
"total_slots": 106,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.015881232000000002,
|
| 41 |
+
"residual_p95_s": 0.046423082,
|
| 42 |
+
"held_slots": 41,
|
| 43 |
+
"trimmed_before_t0": 11,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 27369,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_samples": 276511,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 41,
|
| 54 |
+
"total_slots": 106,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.015900232,
|
| 57 |
+
"residual_p95_s": 0.050756146,
|
| 58 |
+
"held_slots": 41,
|
| 59 |
+
"trimmed_before_t0": 8,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 27369,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_samples": 275938,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 106,
|
| 70 |
+
"t0_image_ns": 1718749770061467392,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786062804.384569,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 0,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
3,
|
| 87 |
+
109
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"window": [
|
| 91 |
+
0,
|
| 92 |
+
176
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"frame_times_s": {
|
| 96 |
+
"first": 1786062804.384569,
|
| 97 |
+
"last": 1786062807.884569,
|
| 98 |
+
"count": 106,
|
| 99 |
+
"spliced": true
|
| 100 |
+
},
|
| 101 |
+
"trajectory_alignment": {
|
| 102 |
+
"frames": 106,
|
| 103 |
+
"fps": 30.0,
|
| 104 |
+
"spliced": true,
|
| 105 |
+
"sidecar_samples": 178,
|
| 106 |
+
"sidecar_span_s": [
|
| 107 |
+
1786062804.383847,
|
| 108 |
+
1786062807.9234972
|
| 109 |
+
],
|
| 110 |
+
"query_span_s": [
|
| 111 |
+
1786062804.384569,
|
| 112 |
+
1786062807.884569
|
| 113 |
+
],
|
| 114 |
+
"clamped_frames": 0,
|
| 115 |
+
"gap_median_s": 0.005070805549621582,
|
| 116 |
+
"gap_p95_s": 0.009502291679382324,
|
| 117 |
+
"gap_max_s": 0.013948678970336914,
|
| 118 |
+
"seams": null
|
| 119 |
+
}
|
| 120 |
+
}
|
.recording_staging/_committed/episode-000001-371e300c/manifest.json
ADDED
|
@@ -0,0 +1,230 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 2,
|
| 5 |
+
"created_at": 1786064213.800734,
|
| 6 |
+
"episode_index": 2,
|
| 7 |
+
"episode_len": 356,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 3.533s of video but 106 frames at 15 fps is 7.067s (drift 3533 ms > 100 ms)",
|
| 9 |
+
"failed_take": true,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 1,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786062837.7179024,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 596,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 1,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
1003,
|
| 60 |
+
1214
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
1233,
|
| 64 |
+
1378
|
| 65 |
+
]
|
| 66 |
+
],
|
| 67 |
+
"t0_wall_s": 1786062804.284569,
|
| 68 |
+
"take_id": "e246d0fc",
|
| 69 |
+
"window": [
|
| 70 |
+
977,
|
| 71 |
+
1378
|
| 72 |
+
]
|
| 73 |
+
},
|
| 74 |
+
"source_episode_index": 1,
|
| 75 |
+
"state": "committed",
|
| 76 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack_failed/svo/session_e246d0fc",
|
| 77 |
+
"svo_pulled": true,
|
| 78 |
+
"tactile_enabled": false,
|
| 79 |
+
"take_id": "371e300c",
|
| 80 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack_failed",
|
| 81 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 82 |
+
"timesync": {
|
| 83 |
+
"offset_s": -67313034.32310146,
|
| 84 |
+
"rtt_s": 0.001900413,
|
| 85 |
+
"uncertainty_s": 0.000896799
|
| 86 |
+
},
|
| 87 |
+
"timing": {
|
| 88 |
+
"cameras": {
|
| 89 |
+
"observation.images.agent_stereo": {
|
| 90 |
+
"held_camera": 143,
|
| 91 |
+
"held_slots": 143,
|
| 92 |
+
"imu_cached": true,
|
| 93 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 94 |
+
"missing_camera": 0,
|
| 95 |
+
"missing_fraction": 0.0,
|
| 96 |
+
"pre_roll_ns": 16666667,
|
| 97 |
+
"residual_median_s": 0.011206144,
|
| 98 |
+
"residual_p95_s": 0.061216454000000003,
|
| 99 |
+
"samples_after_trim": 26714,
|
| 100 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 101 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 102 |
+
"total_slots": 356,
|
| 103 |
+
"trimmed_before_t0": 672
|
| 104 |
+
},
|
| 105 |
+
"observation.images.front_stereo": {
|
| 106 |
+
"held_camera": 144,
|
| 107 |
+
"held_slots": 144,
|
| 108 |
+
"imu_cached": true,
|
| 109 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 110 |
+
"missing_camera": 0,
|
| 111 |
+
"missing_fraction": 0.0,
|
| 112 |
+
"pre_roll_ns": 16666667,
|
| 113 |
+
"residual_median_s": 0.016059232,
|
| 114 |
+
"residual_p95_s": 0.050644706,
|
| 115 |
+
"samples_after_trim": 26706,
|
| 116 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 117 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 118 |
+
"total_slots": 356,
|
| 119 |
+
"trimmed_before_t0": 671
|
| 120 |
+
},
|
| 121 |
+
"observation.images.left_stereo": {
|
| 122 |
+
"held_camera": 144,
|
| 123 |
+
"held_slots": 144,
|
| 124 |
+
"imu_cached": true,
|
| 125 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 126 |
+
"missing_camera": 0,
|
| 127 |
+
"missing_fraction": 0.0,
|
| 128 |
+
"pre_roll_ns": 16666667,
|
| 129 |
+
"residual_median_s": 0.016039228,
|
| 130 |
+
"residual_p95_s": 0.050655706,
|
| 131 |
+
"samples_after_trim": 26705,
|
| 132 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 133 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 134 |
+
"total_slots": 356,
|
| 135 |
+
"trimmed_before_t0": 675
|
| 136 |
+
},
|
| 137 |
+
"observation.images.wrist_stereo": {
|
| 138 |
+
"held_camera": 141,
|
| 139 |
+
"held_slots": 141,
|
| 140 |
+
"imu_cached": true,
|
| 141 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 142 |
+
"missing_camera": 0,
|
| 143 |
+
"missing_fraction": 0.0,
|
| 144 |
+
"pre_roll_ns": 16666667,
|
| 145 |
+
"residual_median_s": 0.011187648,
|
| 146 |
+
"residual_p95_s": 0.061179767999999995,
|
| 147 |
+
"samples_after_trim": 26708,
|
| 148 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 149 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 150 |
+
"total_slots": 356,
|
| 151 |
+
"trimmed_before_t0": 672
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"fps": 30.0,
|
| 155 |
+
"frame_times_s": {
|
| 156 |
+
"count": 356,
|
| 157 |
+
"first": 1786062837.7179024,
|
| 158 |
+
"last": 1786062850.1845691,
|
| 159 |
+
"spliced": true
|
| 160 |
+
},
|
| 161 |
+
"imu_dir": "imu",
|
| 162 |
+
"jetson_folder": "take_e246d0fc",
|
| 163 |
+
"n_frames": 356,
|
| 164 |
+
"record_ack_wall_s": 1786062837.7179024,
|
| 165 |
+
"session": {
|
| 166 |
+
"clip_index": 1,
|
| 167 |
+
"n_clips": 34,
|
| 168 |
+
"segments": [
|
| 169 |
+
[
|
| 170 |
+
1003,
|
| 171 |
+
1214
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
1233,
|
| 175 |
+
1378
|
| 176 |
+
]
|
| 177 |
+
],
|
| 178 |
+
"take_id": "e246d0fc",
|
| 179 |
+
"window": [
|
| 180 |
+
977,
|
| 181 |
+
1378
|
| 182 |
+
]
|
| 183 |
+
},
|
| 184 |
+
"spliced": true,
|
| 185 |
+
"t0_image_ns": 1718749803394800896,
|
| 186 |
+
"timesync": {
|
| 187 |
+
"offset_s": -67313034.32310146,
|
| 188 |
+
"rtt_s": 0.001900413,
|
| 189 |
+
"uncertainty_s": 0.000896799
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"trajectory_alignment": {
|
| 193 |
+
"clamped_frames": 0,
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"frames": 356,
|
| 196 |
+
"gap_max_s": 0.02725982666015625,
|
| 197 |
+
"gap_median_s": 0.0042400360107421875,
|
| 198 |
+
"gap_p95_s": 0.009464025497436523,
|
| 199 |
+
"query_span_s": [
|
| 200 |
+
1786062837.7179024,
|
| 201 |
+
1786062850.1845691
|
| 202 |
+
],
|
| 203 |
+
"seams": null,
|
| 204 |
+
"sidecar_samples": 596,
|
| 205 |
+
"sidecar_span_s": [
|
| 206 |
+
1786062837.7034063,
|
| 207 |
+
1786062850.233801
|
| 208 |
+
],
|
| 209 |
+
"spliced": true
|
| 210 |
+
},
|
| 211 |
+
"updated_at": 1786409962.0615077,
|
| 212 |
+
"video_files": {
|
| 213 |
+
"observation.images.agent_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.front_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
},
|
| 221 |
+
"observation.images.left_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.wrist_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
}
|
| 229 |
+
}
|
| 230 |
+
}
|
.recording_staging/_committed/episode-000001-371e300c/timing.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 141,
|
| 6 |
+
"total_slots": 356,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.011187648,
|
| 9 |
+
"residual_p95_s": 0.061179767999999995,
|
| 10 |
+
"held_slots": 141,
|
| 11 |
+
"trimmed_before_t0": 672,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 26708,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 143,
|
| 22 |
+
"total_slots": 356,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.011206144,
|
| 25 |
+
"residual_p95_s": 0.061216454000000003,
|
| 26 |
+
"held_slots": 143,
|
| 27 |
+
"trimmed_before_t0": 672,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 26714,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 144,
|
| 38 |
+
"total_slots": 356,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.016039228,
|
| 41 |
+
"residual_p95_s": 0.050655706,
|
| 42 |
+
"held_slots": 144,
|
| 43 |
+
"trimmed_before_t0": 675,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 26705,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 144,
|
| 54 |
+
"total_slots": 356,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.016059232,
|
| 57 |
+
"residual_p95_s": 0.050644706,
|
| 58 |
+
"held_slots": 144,
|
| 59 |
+
"trimmed_before_t0": 671,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 26706,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 356,
|
| 70 |
+
"t0_image_ns": 1718749803394800896,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786062837.7179024,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 1,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
1003,
|
| 87 |
+
1214
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
1233,
|
| 91 |
+
1378
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
"window": [
|
| 95 |
+
977,
|
| 96 |
+
1378
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"frame_times_s": {
|
| 100 |
+
"first": 1786062837.7179024,
|
| 101 |
+
"last": 1786062850.1845691,
|
| 102 |
+
"count": 356,
|
| 103 |
+
"spliced": true
|
| 104 |
+
},
|
| 105 |
+
"trajectory_alignment": {
|
| 106 |
+
"frames": 356,
|
| 107 |
+
"fps": 30.0,
|
| 108 |
+
"spliced": true,
|
| 109 |
+
"sidecar_samples": 596,
|
| 110 |
+
"sidecar_span_s": [
|
| 111 |
+
1786062837.7034063,
|
| 112 |
+
1786062850.233801
|
| 113 |
+
],
|
| 114 |
+
"query_span_s": [
|
| 115 |
+
1786062837.7179024,
|
| 116 |
+
1786062850.1845691
|
| 117 |
+
],
|
| 118 |
+
"clamped_frames": 0,
|
| 119 |
+
"gap_median_s": 0.0042400360107421875,
|
| 120 |
+
"gap_p95_s": 0.009464025497436523,
|
| 121 |
+
"gap_max_s": 0.02725982666015625,
|
| 122 |
+
"seams": null
|
| 123 |
+
}
|
| 124 |
+
}
|
.recording_staging/_committed/episode-000001-b3d82026/manifest.json
ADDED
|
@@ -0,0 +1,230 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 2,
|
| 5 |
+
"created_at": 1786064213.973741,
|
| 6 |
+
"episode_index": 2,
|
| 7 |
+
"episode_len": 441,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 1,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786062903.6512356,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 738,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 4,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
2981,
|
| 60 |
+
3130
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
3145,
|
| 64 |
+
3437
|
| 65 |
+
]
|
| 66 |
+
],
|
| 67 |
+
"t0_wall_s": 1786062804.284569,
|
| 68 |
+
"take_id": "e246d0fc",
|
| 69 |
+
"window": [
|
| 70 |
+
2964,
|
| 71 |
+
3493
|
| 72 |
+
]
|
| 73 |
+
},
|
| 74 |
+
"source_episode_index": 1,
|
| 75 |
+
"state": "committed",
|
| 76 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 77 |
+
"svo_pulled": true,
|
| 78 |
+
"tactile_enabled": false,
|
| 79 |
+
"take_id": "b3d82026",
|
| 80 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 81 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 82 |
+
"timesync": {
|
| 83 |
+
"offset_s": -67313034.32310146,
|
| 84 |
+
"rtt_s": 0.001900413,
|
| 85 |
+
"uncertainty_s": 0.000896799
|
| 86 |
+
},
|
| 87 |
+
"timing": {
|
| 88 |
+
"cameras": {
|
| 89 |
+
"observation.images.agent_stereo": {
|
| 90 |
+
"held_camera": 169,
|
| 91 |
+
"held_slots": 169,
|
| 92 |
+
"imu_cached": true,
|
| 93 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 94 |
+
"missing_camera": 0,
|
| 95 |
+
"missing_fraction": 0.0,
|
| 96 |
+
"pre_roll_ns": 16666667,
|
| 97 |
+
"residual_median_s": 0.010926392,
|
| 98 |
+
"residual_p95_s": 0.055719352,
|
| 99 |
+
"samples_after_trim": 25458,
|
| 100 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 101 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 102 |
+
"total_slots": 441,
|
| 103 |
+
"trimmed_before_t0": 1928
|
| 104 |
+
},
|
| 105 |
+
"observation.images.front_stereo": {
|
| 106 |
+
"held_camera": 172,
|
| 107 |
+
"held_slots": 172,
|
| 108 |
+
"imu_cached": true,
|
| 109 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 110 |
+
"missing_camera": 0,
|
| 111 |
+
"missing_fraction": 0.0,
|
| 112 |
+
"pre_roll_ns": 16666667,
|
| 113 |
+
"residual_median_s": 0.016322608,
|
| 114 |
+
"residual_p95_s": 0.033711144,
|
| 115 |
+
"samples_after_trim": 25453,
|
| 116 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 117 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 118 |
+
"total_slots": 441,
|
| 119 |
+
"trimmed_before_t0": 1924
|
| 120 |
+
},
|
| 121 |
+
"observation.images.left_stereo": {
|
| 122 |
+
"held_camera": 178,
|
| 123 |
+
"held_slots": 178,
|
| 124 |
+
"imu_cached": true,
|
| 125 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 126 |
+
"missing_camera": 0,
|
| 127 |
+
"missing_fraction": 0.0,
|
| 128 |
+
"pre_roll_ns": 16666667,
|
| 129 |
+
"residual_median_s": 0.016303352,
|
| 130 |
+
"residual_p95_s": 0.050315144,
|
| 131 |
+
"samples_after_trim": 25452,
|
| 132 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 133 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 134 |
+
"total_slots": 441,
|
| 135 |
+
"trimmed_before_t0": 1928
|
| 136 |
+
},
|
| 137 |
+
"observation.images.wrist_stereo": {
|
| 138 |
+
"held_camera": 171,
|
| 139 |
+
"held_slots": 171,
|
| 140 |
+
"imu_cached": true,
|
| 141 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 142 |
+
"missing_camera": 0,
|
| 143 |
+
"missing_fraction": 0.0,
|
| 144 |
+
"pre_roll_ns": 16666667,
|
| 145 |
+
"residual_median_s": 0.010902648,
|
| 146 |
+
"residual_p95_s": 0.044282896,
|
| 147 |
+
"samples_after_trim": 25455,
|
| 148 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 149 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 150 |
+
"total_slots": 441,
|
| 151 |
+
"trimmed_before_t0": 1925
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"fps": 30.0,
|
| 155 |
+
"frame_times_s": {
|
| 156 |
+
"count": 441,
|
| 157 |
+
"first": 1786062903.6512356,
|
| 158 |
+
"last": 1786062918.8179023,
|
| 159 |
+
"spliced": true
|
| 160 |
+
},
|
| 161 |
+
"imu_dir": "imu",
|
| 162 |
+
"jetson_folder": "take_e246d0fc",
|
| 163 |
+
"n_frames": 441,
|
| 164 |
+
"record_ack_wall_s": 1786062903.6512356,
|
| 165 |
+
"session": {
|
| 166 |
+
"clip_index": 4,
|
| 167 |
+
"n_clips": 34,
|
| 168 |
+
"segments": [
|
| 169 |
+
[
|
| 170 |
+
2981,
|
| 171 |
+
3130
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
3145,
|
| 175 |
+
3437
|
| 176 |
+
]
|
| 177 |
+
],
|
| 178 |
+
"take_id": "e246d0fc",
|
| 179 |
+
"window": [
|
| 180 |
+
2964,
|
| 181 |
+
3493
|
| 182 |
+
]
|
| 183 |
+
},
|
| 184 |
+
"spliced": true,
|
| 185 |
+
"t0_image_ns": 1718749869328134144,
|
| 186 |
+
"timesync": {
|
| 187 |
+
"offset_s": -67313034.32310146,
|
| 188 |
+
"rtt_s": 0.001900413,
|
| 189 |
+
"uncertainty_s": 0.000896799
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"trajectory_alignment": {
|
| 193 |
+
"clamped_frames": 0,
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"frames": 441,
|
| 196 |
+
"gap_max_s": 0.017539262771606445,
|
| 197 |
+
"gap_median_s": 0.004175662994384766,
|
| 198 |
+
"gap_p95_s": 0.009542226791381836,
|
| 199 |
+
"query_span_s": [
|
| 200 |
+
1786062903.6512356,
|
| 201 |
+
1786062918.8179023
|
| 202 |
+
],
|
| 203 |
+
"seams": null,
|
| 204 |
+
"sidecar_samples": 738,
|
| 205 |
+
"sidecar_span_s": [
|
| 206 |
+
1786062903.6339326,
|
| 207 |
+
1786062918.8605793
|
| 208 |
+
],
|
| 209 |
+
"spliced": true
|
| 210 |
+
},
|
| 211 |
+
"updated_at": 1786410040.4840927,
|
| 212 |
+
"video_files": {
|
| 213 |
+
"observation.images.agent_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.front_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
},
|
| 221 |
+
"observation.images.left_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.wrist_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
}
|
| 229 |
+
}
|
| 230 |
+
}
|
.recording_staging/_committed/episode-000001-b3d82026/timing.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 171,
|
| 6 |
+
"total_slots": 441,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.010902648,
|
| 9 |
+
"residual_p95_s": 0.044282896,
|
| 10 |
+
"held_slots": 171,
|
| 11 |
+
"trimmed_before_t0": 1925,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 25455,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 169,
|
| 22 |
+
"total_slots": 441,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.010926392,
|
| 25 |
+
"residual_p95_s": 0.055719352,
|
| 26 |
+
"held_slots": 169,
|
| 27 |
+
"trimmed_before_t0": 1928,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 25458,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 178,
|
| 38 |
+
"total_slots": 441,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.016303352,
|
| 41 |
+
"residual_p95_s": 0.050315144,
|
| 42 |
+
"held_slots": 178,
|
| 43 |
+
"trimmed_before_t0": 1928,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 25452,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 172,
|
| 54 |
+
"total_slots": 441,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.016322608,
|
| 57 |
+
"residual_p95_s": 0.033711144,
|
| 58 |
+
"held_slots": 172,
|
| 59 |
+
"trimmed_before_t0": 1924,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 25453,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 441,
|
| 70 |
+
"t0_image_ns": 1718749869328134144,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786062903.6512356,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 4,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
2981,
|
| 87 |
+
3130
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
3145,
|
| 91 |
+
3437
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
"window": [
|
| 95 |
+
2964,
|
| 96 |
+
3493
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"frame_times_s": {
|
| 100 |
+
"first": 1786062903.6512356,
|
| 101 |
+
"last": 1786062918.8179023,
|
| 102 |
+
"count": 441,
|
| 103 |
+
"spliced": true
|
| 104 |
+
},
|
| 105 |
+
"trajectory_alignment": {
|
| 106 |
+
"frames": 441,
|
| 107 |
+
"fps": 30.0,
|
| 108 |
+
"spliced": true,
|
| 109 |
+
"sidecar_samples": 738,
|
| 110 |
+
"sidecar_span_s": [
|
| 111 |
+
1786062903.6339326,
|
| 112 |
+
1786062918.8605793
|
| 113 |
+
],
|
| 114 |
+
"query_span_s": [
|
| 115 |
+
1786062903.6512356,
|
| 116 |
+
1786062918.8179023
|
| 117 |
+
],
|
| 118 |
+
"clamped_frames": 0,
|
| 119 |
+
"gap_median_s": 0.004175662994384766,
|
| 120 |
+
"gap_p95_s": 0.009542226791381836,
|
| 121 |
+
"gap_max_s": 0.017539262771606445,
|
| 122 |
+
"seams": null
|
| 123 |
+
}
|
| 124 |
+
}
|
.recording_staging/_committed/episode-000003-b6de8cc9/manifest.json
ADDED
|
@@ -0,0 +1,222 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 4,
|
| 5 |
+
"created_at": 1786064214.169208,
|
| 6 |
+
"episode_index": 4,
|
| 7 |
+
"episode_len": 586,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 3.533s of video but 106 frames at 15 fps is 7.067s (drift 3533 ms > 100 ms)",
|
| 9 |
+
"failed_take": true,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 3,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063054.2179024,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 978,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 8,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
7498,
|
| 60 |
+
8084
|
| 61 |
+
]
|
| 62 |
+
],
|
| 63 |
+
"t0_wall_s": 1786062804.284569,
|
| 64 |
+
"take_id": "e246d0fc",
|
| 65 |
+
"window": [
|
| 66 |
+
7478,
|
| 67 |
+
8084
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"source_episode_index": 3,
|
| 71 |
+
"state": "committed",
|
| 72 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack_failed/svo/session_e246d0fc",
|
| 73 |
+
"svo_pulled": true,
|
| 74 |
+
"tactile_enabled": false,
|
| 75 |
+
"take_id": "b6de8cc9",
|
| 76 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack_failed",
|
| 77 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 78 |
+
"timesync": {
|
| 79 |
+
"offset_s": -67313034.32310146,
|
| 80 |
+
"rtt_s": 0.001900413,
|
| 81 |
+
"uncertainty_s": 0.000896799
|
| 82 |
+
},
|
| 83 |
+
"timing": {
|
| 84 |
+
"cameras": {
|
| 85 |
+
"observation.images.agent_stereo": {
|
| 86 |
+
"held_camera": 229,
|
| 87 |
+
"held_slots": 229,
|
| 88 |
+
"imu_cached": true,
|
| 89 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 90 |
+
"missing_camera": 0,
|
| 91 |
+
"missing_fraction": 0.0,
|
| 92 |
+
"pre_roll_ns": 16666667,
|
| 93 |
+
"residual_median_s": 0.010245144,
|
| 94 |
+
"residual_p95_s": 0.04361946,
|
| 95 |
+
"samples_after_trim": 22530,
|
| 96 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 97 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 98 |
+
"total_slots": 586,
|
| 99 |
+
"trimmed_before_t0": 4856
|
| 100 |
+
},
|
| 101 |
+
"observation.images.front_stereo": {
|
| 102 |
+
"held_camera": 224,
|
| 103 |
+
"held_slots": 224,
|
| 104 |
+
"imu_cached": true,
|
| 105 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 106 |
+
"missing_camera": 0,
|
| 107 |
+
"missing_fraction": 0.0,
|
| 108 |
+
"pre_roll_ns": 16666667,
|
| 109 |
+
"residual_median_s": 0.016389268,
|
| 110 |
+
"residual_p95_s": 0.04973677,
|
| 111 |
+
"samples_after_trim": 22523,
|
| 112 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 113 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 114 |
+
"total_slots": 586,
|
| 115 |
+
"trimmed_before_t0": 4854
|
| 116 |
+
},
|
| 117 |
+
"observation.images.left_stereo": {
|
| 118 |
+
"held_camera": 227,
|
| 119 |
+
"held_slots": 227,
|
| 120 |
+
"imu_cached": true,
|
| 121 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 122 |
+
"missing_camera": 0,
|
| 123 |
+
"missing_fraction": 0.0,
|
| 124 |
+
"pre_roll_ns": 16666667,
|
| 125 |
+
"residual_median_s": 0.016412644,
|
| 126 |
+
"residual_p95_s": 0.066364646,
|
| 127 |
+
"samples_after_trim": 22522,
|
| 128 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 129 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 130 |
+
"total_slots": 586,
|
| 131 |
+
"trimmed_before_t0": 4858
|
| 132 |
+
},
|
| 133 |
+
"observation.images.wrist_stereo": {
|
| 134 |
+
"held_camera": 226,
|
| 135 |
+
"held_slots": 226,
|
| 136 |
+
"imu_cached": true,
|
| 137 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 138 |
+
"missing_camera": 0,
|
| 139 |
+
"missing_fraction": 0.0,
|
| 140 |
+
"pre_roll_ns": 16666667,
|
| 141 |
+
"residual_median_s": 0.010231396,
|
| 142 |
+
"residual_p95_s": 0.043597204,
|
| 143 |
+
"samples_after_trim": 22524,
|
| 144 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 145 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 146 |
+
"total_slots": 586,
|
| 147 |
+
"trimmed_before_t0": 4856
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"fps": 30.0,
|
| 151 |
+
"frame_times_s": {
|
| 152 |
+
"count": 586,
|
| 153 |
+
"first": 1786063054.2179024,
|
| 154 |
+
"last": 1786063073.7179024,
|
| 155 |
+
"spliced": true
|
| 156 |
+
},
|
| 157 |
+
"imu_dir": "imu",
|
| 158 |
+
"jetson_folder": "take_e246d0fc",
|
| 159 |
+
"n_frames": 586,
|
| 160 |
+
"record_ack_wall_s": 1786063054.2179024,
|
| 161 |
+
"session": {
|
| 162 |
+
"clip_index": 8,
|
| 163 |
+
"n_clips": 34,
|
| 164 |
+
"segments": [
|
| 165 |
+
[
|
| 166 |
+
7498,
|
| 167 |
+
8084
|
| 168 |
+
]
|
| 169 |
+
],
|
| 170 |
+
"take_id": "e246d0fc",
|
| 171 |
+
"window": [
|
| 172 |
+
7478,
|
| 173 |
+
8084
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"spliced": true,
|
| 177 |
+
"t0_image_ns": 1718750019894800896,
|
| 178 |
+
"timesync": {
|
| 179 |
+
"offset_s": -67313034.32310146,
|
| 180 |
+
"rtt_s": 0.001900413,
|
| 181 |
+
"uncertainty_s": 0.000896799
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"trajectory_alignment": {
|
| 185 |
+
"clamped_frames": 0,
|
| 186 |
+
"fps": 30.0,
|
| 187 |
+
"frames": 586,
|
| 188 |
+
"gap_max_s": 0.010486841201782227,
|
| 189 |
+
"gap_median_s": 0.0036121606826782227,
|
| 190 |
+
"gap_p95_s": 0.00991666316986084,
|
| 191 |
+
"query_span_s": [
|
| 192 |
+
1786063054.2179024,
|
| 193 |
+
1786063073.7179024
|
| 194 |
+
],
|
| 195 |
+
"seams": null,
|
| 196 |
+
"sidecar_samples": 978,
|
| 197 |
+
"sidecar_span_s": [
|
| 198 |
+
1786063054.2141626,
|
| 199 |
+
1786063073.7574356
|
| 200 |
+
],
|
| 201 |
+
"spliced": true
|
| 202 |
+
},
|
| 203 |
+
"updated_at": 1786410232.9810452,
|
| 204 |
+
"video_files": {
|
| 205 |
+
"observation.images.agent_stereo": {
|
| 206 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 207 |
+
"stats": null
|
| 208 |
+
},
|
| 209 |
+
"observation.images.front_stereo": {
|
| 210 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 211 |
+
"stats": null
|
| 212 |
+
},
|
| 213 |
+
"observation.images.left_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.wrist_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
}
|
.recording_staging/_committed/episode-000003-b6de8cc9/timing.json
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 226,
|
| 6 |
+
"total_slots": 586,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.010231396,
|
| 9 |
+
"residual_p95_s": 0.043597204,
|
| 10 |
+
"held_slots": 226,
|
| 11 |
+
"trimmed_before_t0": 4856,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 22524,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 229,
|
| 22 |
+
"total_slots": 586,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.010245144,
|
| 25 |
+
"residual_p95_s": 0.04361946,
|
| 26 |
+
"held_slots": 229,
|
| 27 |
+
"trimmed_before_t0": 4856,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 22530,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 227,
|
| 38 |
+
"total_slots": 586,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.016412644,
|
| 41 |
+
"residual_p95_s": 0.066364646,
|
| 42 |
+
"held_slots": 227,
|
| 43 |
+
"trimmed_before_t0": 4858,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 22522,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 224,
|
| 54 |
+
"total_slots": 586,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.016389268,
|
| 57 |
+
"residual_p95_s": 0.04973677,
|
| 58 |
+
"held_slots": 224,
|
| 59 |
+
"trimmed_before_t0": 4854,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 22523,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 586,
|
| 70 |
+
"t0_image_ns": 1718750019894800896,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063054.2179024,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 8,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
7498,
|
| 87 |
+
8084
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"window": [
|
| 91 |
+
7478,
|
| 92 |
+
8084
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"frame_times_s": {
|
| 96 |
+
"first": 1786063054.2179024,
|
| 97 |
+
"last": 1786063073.7179024,
|
| 98 |
+
"count": 586,
|
| 99 |
+
"spliced": true
|
| 100 |
+
},
|
| 101 |
+
"trajectory_alignment": {
|
| 102 |
+
"frames": 586,
|
| 103 |
+
"fps": 30.0,
|
| 104 |
+
"spliced": true,
|
| 105 |
+
"sidecar_samples": 978,
|
| 106 |
+
"sidecar_span_s": [
|
| 107 |
+
1786063054.2141626,
|
| 108 |
+
1786063073.7574356
|
| 109 |
+
],
|
| 110 |
+
"query_span_s": [
|
| 111 |
+
1786063054.2179024,
|
| 112 |
+
1786063073.7179024
|
| 113 |
+
],
|
| 114 |
+
"clamped_frames": 0,
|
| 115 |
+
"gap_median_s": 0.0036121606826782227,
|
| 116 |
+
"gap_p95_s": 0.00991666316986084,
|
| 117 |
+
"gap_max_s": 0.010486841201782227,
|
| 118 |
+
"seams": null
|
| 119 |
+
}
|
| 120 |
+
}
|
.recording_staging/_committed/episode-000003-be9d07e2/manifest.json
ADDED
|
@@ -0,0 +1,230 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 4,
|
| 5 |
+
"created_at": 1786064214.0939515,
|
| 6 |
+
"episode_index": 4,
|
| 7 |
+
"episode_len": 489,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 3,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786062953.484569,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 819,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 6,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
4476,
|
| 60 |
+
4651
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
4662,
|
| 64 |
+
4976
|
| 65 |
+
]
|
| 66 |
+
],
|
| 67 |
+
"t0_wall_s": 1786062804.284569,
|
| 68 |
+
"take_id": "e246d0fc",
|
| 69 |
+
"window": [
|
| 70 |
+
4457,
|
| 71 |
+
5028
|
| 72 |
+
]
|
| 73 |
+
},
|
| 74 |
+
"source_episode_index": 3,
|
| 75 |
+
"state": "committed",
|
| 76 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 77 |
+
"svo_pulled": true,
|
| 78 |
+
"tactile_enabled": false,
|
| 79 |
+
"take_id": "be9d07e2",
|
| 80 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 81 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 82 |
+
"timesync": {
|
| 83 |
+
"offset_s": -67313034.32310146,
|
| 84 |
+
"rtt_s": 0.001900413,
|
| 85 |
+
"uncertainty_s": 0.000896799
|
| 86 |
+
},
|
| 87 |
+
"timing": {
|
| 88 |
+
"cameras": {
|
| 89 |
+
"observation.images.agent_stereo": {
|
| 90 |
+
"held_camera": 191,
|
| 91 |
+
"held_slots": 191,
|
| 92 |
+
"imu_cached": true,
|
| 93 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 94 |
+
"missing_camera": 0,
|
| 95 |
+
"missing_fraction": 0.0,
|
| 96 |
+
"pre_roll_ns": 16666667,
|
| 97 |
+
"residual_median_s": 0.010701896,
|
| 98 |
+
"residual_p95_s": 0.0440689952,
|
| 99 |
+
"samples_after_trim": 24508,
|
| 100 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 101 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 102 |
+
"total_slots": 489,
|
| 103 |
+
"trimmed_before_t0": 2878
|
| 104 |
+
},
|
| 105 |
+
"observation.images.front_stereo": {
|
| 106 |
+
"held_camera": 191,
|
| 107 |
+
"held_slots": 191,
|
| 108 |
+
"imu_cached": true,
|
| 109 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 110 |
+
"missing_camera": 0,
|
| 111 |
+
"missing_fraction": 0.0,
|
| 112 |
+
"pre_roll_ns": 16666667,
|
| 113 |
+
"residual_median_s": 0.016536608,
|
| 114 |
+
"residual_p95_s": 0.0335292448,
|
| 115 |
+
"samples_after_trim": 24502,
|
| 116 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 117 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 118 |
+
"total_slots": 489,
|
| 119 |
+
"trimmed_before_t0": 2875
|
| 120 |
+
},
|
| 121 |
+
"observation.images.left_stereo": {
|
| 122 |
+
"held_camera": 191,
|
| 123 |
+
"held_slots": 191,
|
| 124 |
+
"imu_cached": true,
|
| 125 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 126 |
+
"missing_camera": 0,
|
| 127 |
+
"missing_fraction": 0.0,
|
| 128 |
+
"pre_roll_ns": 16666667,
|
| 129 |
+
"residual_median_s": 0.016508352,
|
| 130 |
+
"residual_p95_s": 0.06018044479999944,
|
| 131 |
+
"samples_after_trim": 24500,
|
| 132 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 133 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 134 |
+
"total_slots": 489,
|
| 135 |
+
"trimmed_before_t0": 2880
|
| 136 |
+
},
|
| 137 |
+
"observation.images.wrist_stereo": {
|
| 138 |
+
"held_camera": 193,
|
| 139 |
+
"held_slots": 193,
|
| 140 |
+
"imu_cached": true,
|
| 141 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 142 |
+
"missing_camera": 0,
|
| 143 |
+
"missing_fraction": 0.0,
|
| 144 |
+
"pre_roll_ns": 16666667,
|
| 145 |
+
"residual_median_s": 0.010683392,
|
| 146 |
+
"residual_p95_s": 0.0606722928,
|
| 147 |
+
"samples_after_trim": 24504,
|
| 148 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 149 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 150 |
+
"total_slots": 489,
|
| 151 |
+
"trimmed_before_t0": 2876
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"fps": 30.0,
|
| 155 |
+
"frame_times_s": {
|
| 156 |
+
"count": 489,
|
| 157 |
+
"first": 1786062953.484569,
|
| 158 |
+
"last": 1786062970.1179023,
|
| 159 |
+
"spliced": true
|
| 160 |
+
},
|
| 161 |
+
"imu_dir": "imu",
|
| 162 |
+
"jetson_folder": "take_e246d0fc",
|
| 163 |
+
"n_frames": 489,
|
| 164 |
+
"record_ack_wall_s": 1786062953.484569,
|
| 165 |
+
"session": {
|
| 166 |
+
"clip_index": 6,
|
| 167 |
+
"n_clips": 34,
|
| 168 |
+
"segments": [
|
| 169 |
+
[
|
| 170 |
+
4476,
|
| 171 |
+
4651
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
4662,
|
| 175 |
+
4976
|
| 176 |
+
]
|
| 177 |
+
],
|
| 178 |
+
"take_id": "e246d0fc",
|
| 179 |
+
"window": [
|
| 180 |
+
4457,
|
| 181 |
+
5028
|
| 182 |
+
]
|
| 183 |
+
},
|
| 184 |
+
"spliced": true,
|
| 185 |
+
"t0_image_ns": 1718749919161467648,
|
| 186 |
+
"timesync": {
|
| 187 |
+
"offset_s": -67313034.32310146,
|
| 188 |
+
"rtt_s": 0.001900413,
|
| 189 |
+
"uncertainty_s": 0.000896799
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"trajectory_alignment": {
|
| 193 |
+
"clamped_frames": 0,
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"frames": 489,
|
| 196 |
+
"gap_max_s": 0.011077165603637695,
|
| 197 |
+
"gap_median_s": 0.006544351577758789,
|
| 198 |
+
"gap_p95_s": 0.007301378250122069,
|
| 199 |
+
"query_span_s": [
|
| 200 |
+
1786062953.484569,
|
| 201 |
+
1786062970.1179023
|
| 202 |
+
],
|
| 203 |
+
"seams": null,
|
| 204 |
+
"sidecar_samples": 819,
|
| 205 |
+
"sidecar_span_s": [
|
| 206 |
+
1786062953.4779866,
|
| 207 |
+
1786062970.1583467
|
| 208 |
+
],
|
| 209 |
+
"spliced": true
|
| 210 |
+
},
|
| 211 |
+
"updated_at": 1786410130.3275354,
|
| 212 |
+
"video_files": {
|
| 213 |
+
"observation.images.agent_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.front_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
},
|
| 221 |
+
"observation.images.left_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.wrist_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
}
|
| 229 |
+
}
|
| 230 |
+
}
|
.recording_staging/_committed/episode-000003-be9d07e2/timing.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 193,
|
| 6 |
+
"total_slots": 489,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.010683392,
|
| 9 |
+
"residual_p95_s": 0.0606722928,
|
| 10 |
+
"held_slots": 193,
|
| 11 |
+
"trimmed_before_t0": 2876,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 24504,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 191,
|
| 22 |
+
"total_slots": 489,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.010701896,
|
| 25 |
+
"residual_p95_s": 0.0440689952,
|
| 26 |
+
"held_slots": 191,
|
| 27 |
+
"trimmed_before_t0": 2878,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 24508,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 191,
|
| 38 |
+
"total_slots": 489,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.016508352,
|
| 41 |
+
"residual_p95_s": 0.06018044479999944,
|
| 42 |
+
"held_slots": 191,
|
| 43 |
+
"trimmed_before_t0": 2880,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 24500,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 191,
|
| 54 |
+
"total_slots": 489,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.016536608,
|
| 57 |
+
"residual_p95_s": 0.0335292448,
|
| 58 |
+
"held_slots": 191,
|
| 59 |
+
"trimmed_before_t0": 2875,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 24502,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 489,
|
| 70 |
+
"t0_image_ns": 1718749919161467648,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786062953.484569,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 6,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
4476,
|
| 87 |
+
4651
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
4662,
|
| 91 |
+
4976
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
"window": [
|
| 95 |
+
4457,
|
| 96 |
+
5028
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"frame_times_s": {
|
| 100 |
+
"first": 1786062953.484569,
|
| 101 |
+
"last": 1786062970.1179023,
|
| 102 |
+
"count": 489,
|
| 103 |
+
"spliced": true
|
| 104 |
+
},
|
| 105 |
+
"trajectory_alignment": {
|
| 106 |
+
"frames": 489,
|
| 107 |
+
"fps": 30.0,
|
| 108 |
+
"spliced": true,
|
| 109 |
+
"sidecar_samples": 819,
|
| 110 |
+
"sidecar_span_s": [
|
| 111 |
+
1786062953.4779866,
|
| 112 |
+
1786062970.1583467
|
| 113 |
+
],
|
| 114 |
+
"query_span_s": [
|
| 115 |
+
1786062953.484569,
|
| 116 |
+
1786062970.1179023
|
| 117 |
+
],
|
| 118 |
+
"clamped_frames": 0,
|
| 119 |
+
"gap_median_s": 0.006544351577758789,
|
| 120 |
+
"gap_p95_s": 0.007301378250122069,
|
| 121 |
+
"gap_max_s": 0.011077165603637695,
|
| 122 |
+
"seams": null
|
| 123 |
+
}
|
| 124 |
+
}
|
.recording_staging/_committed/episode-000004-1b032ea4/manifest.json
ADDED
|
@@ -0,0 +1,222 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 5,
|
| 5 |
+
"created_at": 1786064214.1316192,
|
| 6 |
+
"episode_index": 5,
|
| 7 |
+
"episode_len": 550,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 4,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063028.5512357,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 919,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 7,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
6728,
|
| 60 |
+
7278
|
| 61 |
+
]
|
| 62 |
+
],
|
| 63 |
+
"t0_wall_s": 1786062804.284569,
|
| 64 |
+
"take_id": "e246d0fc",
|
| 65 |
+
"window": [
|
| 66 |
+
6712,
|
| 67 |
+
7278
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"source_episode_index": 4,
|
| 71 |
+
"state": "committed",
|
| 72 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 73 |
+
"svo_pulled": true,
|
| 74 |
+
"tactile_enabled": false,
|
| 75 |
+
"take_id": "1b032ea4",
|
| 76 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 77 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 78 |
+
"timesync": {
|
| 79 |
+
"offset_s": -67313034.32310146,
|
| 80 |
+
"rtt_s": 0.001900413,
|
| 81 |
+
"uncertainty_s": 0.000896799
|
| 82 |
+
},
|
| 83 |
+
"timing": {
|
| 84 |
+
"cameras": {
|
| 85 |
+
"observation.images.agent_stereo": {
|
| 86 |
+
"held_camera": 212,
|
| 87 |
+
"held_slots": 212,
|
| 88 |
+
"imu_cached": true,
|
| 89 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 90 |
+
"missing_camera": 0,
|
| 91 |
+
"missing_fraction": 0.0,
|
| 92 |
+
"pre_roll_ns": 16666667,
|
| 93 |
+
"residual_median_s": 0.010366144,
|
| 94 |
+
"residual_p95_s": 0.0603109944,
|
| 95 |
+
"samples_after_trim": 23017,
|
| 96 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 97 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 98 |
+
"total_slots": 550,
|
| 99 |
+
"trimmed_before_t0": 4369
|
| 100 |
+
},
|
| 101 |
+
"observation.images.front_stereo": {
|
| 102 |
+
"held_camera": 215,
|
| 103 |
+
"held_slots": 215,
|
| 104 |
+
"imu_cached": true,
|
| 105 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 106 |
+
"missing_camera": 0,
|
| 107 |
+
"missing_fraction": 0.0,
|
| 108 |
+
"pre_roll_ns": 16666667,
|
| 109 |
+
"residual_median_s": 0.01649352,
|
| 110 |
+
"residual_p95_s": 0.0664762536,
|
| 111 |
+
"samples_after_trim": 23011,
|
| 112 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 113 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 114 |
+
"total_slots": 550,
|
| 115 |
+
"trimmed_before_t0": 4366
|
| 116 |
+
},
|
| 117 |
+
"observation.images.left_stereo": {
|
| 118 |
+
"held_camera": 214,
|
| 119 |
+
"held_slots": 214,
|
| 120 |
+
"imu_cached": true,
|
| 121 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 122 |
+
"missing_camera": 0,
|
| 123 |
+
"missing_fraction": 0.0,
|
| 124 |
+
"pre_roll_ns": 16666667,
|
| 125 |
+
"residual_median_s": 0.016512644,
|
| 126 |
+
"residual_p95_s": 0.066551946,
|
| 127 |
+
"samples_after_trim": 23009,
|
| 128 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 129 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 130 |
+
"total_slots": 550,
|
| 131 |
+
"trimmed_before_t0": 4371
|
| 132 |
+
},
|
| 133 |
+
"observation.images.wrist_stereo": {
|
| 134 |
+
"held_camera": 214,
|
| 135 |
+
"held_slots": 214,
|
| 136 |
+
"imu_cached": true,
|
| 137 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 138 |
+
"missing_camera": 0,
|
| 139 |
+
"missing_fraction": 0.0,
|
| 140 |
+
"pre_roll_ns": 16666667,
|
| 141 |
+
"residual_median_s": 0.010343268,
|
| 142 |
+
"residual_p95_s": 0.0603391076,
|
| 143 |
+
"samples_after_trim": 23012,
|
| 144 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 145 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 146 |
+
"total_slots": 550,
|
| 147 |
+
"trimmed_before_t0": 4368
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"fps": 30.0,
|
| 151 |
+
"frame_times_s": {
|
| 152 |
+
"count": 550,
|
| 153 |
+
"first": 1786063028.5512357,
|
| 154 |
+
"last": 1786063046.8512356,
|
| 155 |
+
"spliced": true
|
| 156 |
+
},
|
| 157 |
+
"imu_dir": "imu",
|
| 158 |
+
"jetson_folder": "take_e246d0fc",
|
| 159 |
+
"n_frames": 550,
|
| 160 |
+
"record_ack_wall_s": 1786063028.5512357,
|
| 161 |
+
"session": {
|
| 162 |
+
"clip_index": 7,
|
| 163 |
+
"n_clips": 34,
|
| 164 |
+
"segments": [
|
| 165 |
+
[
|
| 166 |
+
6728,
|
| 167 |
+
7278
|
| 168 |
+
]
|
| 169 |
+
],
|
| 170 |
+
"take_id": "e246d0fc",
|
| 171 |
+
"window": [
|
| 172 |
+
6712,
|
| 173 |
+
7278
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"spliced": true,
|
| 177 |
+
"t0_image_ns": 1718749994228134144,
|
| 178 |
+
"timesync": {
|
| 179 |
+
"offset_s": -67313034.32310146,
|
| 180 |
+
"rtt_s": 0.001900413,
|
| 181 |
+
"uncertainty_s": 0.000896799
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"trajectory_alignment": {
|
| 185 |
+
"clamped_frames": 0,
|
| 186 |
+
"fps": 30.0,
|
| 187 |
+
"frames": 550,
|
| 188 |
+
"gap_max_s": 0.011126995086669922,
|
| 189 |
+
"gap_median_s": 0.006567239761352539,
|
| 190 |
+
"gap_p95_s": 0.0075851678848266576,
|
| 191 |
+
"query_span_s": [
|
| 192 |
+
1786063028.5512357,
|
| 193 |
+
1786063046.8512356
|
| 194 |
+
],
|
| 195 |
+
"seams": null,
|
| 196 |
+
"sidecar_samples": 919,
|
| 197 |
+
"sidecar_span_s": [
|
| 198 |
+
1786063028.537347,
|
| 199 |
+
1786063046.8977873
|
| 200 |
+
],
|
| 201 |
+
"spliced": true
|
| 202 |
+
},
|
| 203 |
+
"updated_at": 1786410180.178854,
|
| 204 |
+
"video_files": {
|
| 205 |
+
"observation.images.agent_stereo": {
|
| 206 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 207 |
+
"stats": null
|
| 208 |
+
},
|
| 209 |
+
"observation.images.front_stereo": {
|
| 210 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 211 |
+
"stats": null
|
| 212 |
+
},
|
| 213 |
+
"observation.images.left_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.wrist_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
}
|
.recording_staging/_committed/episode-000004-1b032ea4/timing.json
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 214,
|
| 6 |
+
"total_slots": 550,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.010343268,
|
| 9 |
+
"residual_p95_s": 0.0603391076,
|
| 10 |
+
"held_slots": 214,
|
| 11 |
+
"trimmed_before_t0": 4368,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 23012,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 212,
|
| 22 |
+
"total_slots": 550,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.010366144,
|
| 25 |
+
"residual_p95_s": 0.0603109944,
|
| 26 |
+
"held_slots": 212,
|
| 27 |
+
"trimmed_before_t0": 4369,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 23017,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 214,
|
| 38 |
+
"total_slots": 550,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.016512644,
|
| 41 |
+
"residual_p95_s": 0.066551946,
|
| 42 |
+
"held_slots": 214,
|
| 43 |
+
"trimmed_before_t0": 4371,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 23009,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 215,
|
| 54 |
+
"total_slots": 550,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.01649352,
|
| 57 |
+
"residual_p95_s": 0.0664762536,
|
| 58 |
+
"held_slots": 215,
|
| 59 |
+
"trimmed_before_t0": 4366,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 23011,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 550,
|
| 70 |
+
"t0_image_ns": 1718749994228134144,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063028.5512357,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 7,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
6728,
|
| 87 |
+
7278
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"window": [
|
| 91 |
+
6712,
|
| 92 |
+
7278
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"frame_times_s": {
|
| 96 |
+
"first": 1786063028.5512357,
|
| 97 |
+
"last": 1786063046.8512356,
|
| 98 |
+
"count": 550,
|
| 99 |
+
"spliced": true
|
| 100 |
+
},
|
| 101 |
+
"trajectory_alignment": {
|
| 102 |
+
"frames": 550,
|
| 103 |
+
"fps": 30.0,
|
| 104 |
+
"spliced": true,
|
| 105 |
+
"sidecar_samples": 919,
|
| 106 |
+
"sidecar_span_s": [
|
| 107 |
+
1786063028.537347,
|
| 108 |
+
1786063046.8977873
|
| 109 |
+
],
|
| 110 |
+
"query_span_s": [
|
| 111 |
+
1786063028.5512357,
|
| 112 |
+
1786063046.8512356
|
| 113 |
+
],
|
| 114 |
+
"clamped_frames": 0,
|
| 115 |
+
"gap_median_s": 0.006567239761352539,
|
| 116 |
+
"gap_p95_s": 0.0075851678848266576,
|
| 117 |
+
"gap_max_s": 0.011126995086669922,
|
| 118 |
+
"seams": null
|
| 119 |
+
}
|
| 120 |
+
}
|
.recording_staging/_committed/episode-000004-77660748/manifest.json
ADDED
|
@@ -0,0 +1,222 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 5,
|
| 5 |
+
"created_at": 1786064214.3145506,
|
| 6 |
+
"episode_index": 5,
|
| 7 |
+
"episode_len": 685,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 3.533s of video but 106 frames at 15 fps is 7.067s (drift 3533 ms > 100 ms)",
|
| 9 |
+
"failed_take": true,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 4,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063249.484569,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 1143,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 12,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
13356,
|
| 60 |
+
14041
|
| 61 |
+
]
|
| 62 |
+
],
|
| 63 |
+
"t0_wall_s": 1786062804.284569,
|
| 64 |
+
"take_id": "e246d0fc",
|
| 65 |
+
"window": [
|
| 66 |
+
13336,
|
| 67 |
+
14041
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"source_episode_index": 4,
|
| 71 |
+
"state": "committed",
|
| 72 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack_failed/svo/session_e246d0fc",
|
| 73 |
+
"svo_pulled": true,
|
| 74 |
+
"tactile_enabled": false,
|
| 75 |
+
"take_id": "77660748",
|
| 76 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack_failed",
|
| 77 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 78 |
+
"timesync": {
|
| 79 |
+
"offset_s": -67313034.32310146,
|
| 80 |
+
"rtt_s": 0.001900413,
|
| 81 |
+
"uncertainty_s": 0.000896799
|
| 82 |
+
},
|
| 83 |
+
"timing": {
|
| 84 |
+
"cameras": {
|
| 85 |
+
"observation.images.agent_stereo": {
|
| 86 |
+
"held_camera": 268,
|
| 87 |
+
"held_slots": 268,
|
| 88 |
+
"imu_cached": true,
|
| 89 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 90 |
+
"missing_camera": 0,
|
| 91 |
+
"missing_fraction": 0.0,
|
| 92 |
+
"pre_roll_ns": 16666667,
|
| 93 |
+
"residual_median_s": 0.009342896,
|
| 94 |
+
"residual_p95_s": 0.0427217456,
|
| 95 |
+
"samples_after_trim": 18751,
|
| 96 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 97 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 98 |
+
"total_slots": 685,
|
| 99 |
+
"trimmed_before_t0": 8635
|
| 100 |
+
},
|
| 101 |
+
"observation.images.front_stereo": {
|
| 102 |
+
"held_camera": 272,
|
| 103 |
+
"held_slots": 272,
|
| 104 |
+
"imu_cached": true,
|
| 105 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 106 |
+
"missing_camera": 0,
|
| 107 |
+
"missing_fraction": 0.0,
|
| 108 |
+
"pre_roll_ns": 16666667,
|
| 109 |
+
"residual_median_s": 0.015523144,
|
| 110 |
+
"residual_p95_s": 0.06546654240000001,
|
| 111 |
+
"samples_after_trim": 18747,
|
| 112 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 113 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 114 |
+
"total_slots": 685,
|
| 115 |
+
"trimmed_before_t0": 8630
|
| 116 |
+
},
|
| 117 |
+
"observation.images.left_stereo": {
|
| 118 |
+
"held_camera": 275,
|
| 119 |
+
"held_slots": 275,
|
| 120 |
+
"imu_cached": true,
|
| 121 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 122 |
+
"missing_camera": 0,
|
| 123 |
+
"missing_fraction": 0.0,
|
| 124 |
+
"pre_roll_ns": 16666667,
|
| 125 |
+
"residual_median_s": 0.015546648,
|
| 126 |
+
"residual_p95_s": 0.0655668464,
|
| 127 |
+
"samples_after_trim": 18748,
|
| 128 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 129 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 130 |
+
"total_slots": 685,
|
| 131 |
+
"trimmed_before_t0": 8632
|
| 132 |
+
},
|
| 133 |
+
"observation.images.wrist_stereo": {
|
| 134 |
+
"held_camera": 261,
|
| 135 |
+
"held_slots": 261,
|
| 136 |
+
"imu_cached": true,
|
| 137 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 138 |
+
"missing_camera": 0,
|
| 139 |
+
"missing_fraction": 0.0,
|
| 140 |
+
"pre_roll_ns": 16666667,
|
| 141 |
+
"residual_median_s": 0.009305144,
|
| 142 |
+
"residual_p95_s": 0.0427192448,
|
| 143 |
+
"samples_after_trim": 18749,
|
| 144 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 145 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 146 |
+
"total_slots": 685,
|
| 147 |
+
"trimmed_before_t0": 8631
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"fps": 30.0,
|
| 151 |
+
"frame_times_s": {
|
| 152 |
+
"count": 685,
|
| 153 |
+
"first": 1786063249.484569,
|
| 154 |
+
"last": 1786063272.284569,
|
| 155 |
+
"spliced": true
|
| 156 |
+
},
|
| 157 |
+
"imu_dir": "imu",
|
| 158 |
+
"jetson_folder": "take_e246d0fc",
|
| 159 |
+
"n_frames": 685,
|
| 160 |
+
"record_ack_wall_s": 1786063249.484569,
|
| 161 |
+
"session": {
|
| 162 |
+
"clip_index": 12,
|
| 163 |
+
"n_clips": 34,
|
| 164 |
+
"segments": [
|
| 165 |
+
[
|
| 166 |
+
13356,
|
| 167 |
+
14041
|
| 168 |
+
]
|
| 169 |
+
],
|
| 170 |
+
"take_id": "e246d0fc",
|
| 171 |
+
"window": [
|
| 172 |
+
13336,
|
| 173 |
+
14041
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"spliced": true,
|
| 177 |
+
"t0_image_ns": 1718750215161467648,
|
| 178 |
+
"timesync": {
|
| 179 |
+
"offset_s": -67313034.32310146,
|
| 180 |
+
"rtt_s": 0.001900413,
|
| 181 |
+
"uncertainty_s": 0.000896799
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"trajectory_alignment": {
|
| 185 |
+
"clamped_frames": 0,
|
| 186 |
+
"fps": 30.0,
|
| 187 |
+
"frames": 685,
|
| 188 |
+
"gap_max_s": 0.010322332382202148,
|
| 189 |
+
"gap_median_s": 0.004990816116333008,
|
| 190 |
+
"gap_p95_s": 0.008597660064697265,
|
| 191 |
+
"query_span_s": [
|
| 192 |
+
1786063249.484569,
|
| 193 |
+
1786063272.284569
|
| 194 |
+
],
|
| 195 |
+
"seams": null,
|
| 196 |
+
"sidecar_samples": 1143,
|
| 197 |
+
"sidecar_span_s": [
|
| 198 |
+
1786063249.4831846,
|
| 199 |
+
1786063272.3283322
|
| 200 |
+
],
|
| 201 |
+
"spliced": true
|
| 202 |
+
},
|
| 203 |
+
"updated_at": 1786410434.281052,
|
| 204 |
+
"video_files": {
|
| 205 |
+
"observation.images.agent_stereo": {
|
| 206 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 207 |
+
"stats": null
|
| 208 |
+
},
|
| 209 |
+
"observation.images.front_stereo": {
|
| 210 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 211 |
+
"stats": null
|
| 212 |
+
},
|
| 213 |
+
"observation.images.left_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.wrist_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
}
|
.recording_staging/_committed/episode-000004-77660748/timing.json
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 261,
|
| 6 |
+
"total_slots": 685,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.009305144,
|
| 9 |
+
"residual_p95_s": 0.0427192448,
|
| 10 |
+
"held_slots": 261,
|
| 11 |
+
"trimmed_before_t0": 8631,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 18749,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 268,
|
| 22 |
+
"total_slots": 685,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.009342896,
|
| 25 |
+
"residual_p95_s": 0.0427217456,
|
| 26 |
+
"held_slots": 268,
|
| 27 |
+
"trimmed_before_t0": 8635,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 18751,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 275,
|
| 38 |
+
"total_slots": 685,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.015546648,
|
| 41 |
+
"residual_p95_s": 0.0655668464,
|
| 42 |
+
"held_slots": 275,
|
| 43 |
+
"trimmed_before_t0": 8632,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 18748,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 272,
|
| 54 |
+
"total_slots": 685,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.015523144,
|
| 57 |
+
"residual_p95_s": 0.06546654240000001,
|
| 58 |
+
"held_slots": 272,
|
| 59 |
+
"trimmed_before_t0": 8630,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 18747,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 685,
|
| 70 |
+
"t0_image_ns": 1718750215161467648,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063249.484569,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 12,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
13356,
|
| 87 |
+
14041
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"window": [
|
| 91 |
+
13336,
|
| 92 |
+
14041
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"frame_times_s": {
|
| 96 |
+
"first": 1786063249.484569,
|
| 97 |
+
"last": 1786063272.284569,
|
| 98 |
+
"count": 685,
|
| 99 |
+
"spliced": true
|
| 100 |
+
},
|
| 101 |
+
"trajectory_alignment": {
|
| 102 |
+
"frames": 685,
|
| 103 |
+
"fps": 30.0,
|
| 104 |
+
"spliced": true,
|
| 105 |
+
"sidecar_samples": 1143,
|
| 106 |
+
"sidecar_span_s": [
|
| 107 |
+
1786063249.4831846,
|
| 108 |
+
1786063272.3283322
|
| 109 |
+
],
|
| 110 |
+
"query_span_s": [
|
| 111 |
+
1786063249.484569,
|
| 112 |
+
1786063272.284569
|
| 113 |
+
],
|
| 114 |
+
"clamped_frames": 0,
|
| 115 |
+
"gap_median_s": 0.004990816116333008,
|
| 116 |
+
"gap_p95_s": 0.008597660064697265,
|
| 117 |
+
"gap_max_s": 0.010322332382202148,
|
| 118 |
+
"seams": null
|
| 119 |
+
}
|
| 120 |
+
}
|
.recording_staging/_committed/episode-000005-af39a3ed/manifest.json
ADDED
|
@@ -0,0 +1,222 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 6,
|
| 5 |
+
"created_at": 1786064214.3520532,
|
| 6 |
+
"episode_index": 6,
|
| 7 |
+
"episode_len": 289,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 3.533s of video but 106 frames at 15 fps is 7.067s (drift 3533 ms > 100 ms)",
|
| 9 |
+
"failed_take": true,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 5,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063275.8512356,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 484,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 13,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
14147,
|
| 60 |
+
14436
|
| 61 |
+
]
|
| 62 |
+
],
|
| 63 |
+
"t0_wall_s": 1786062804.284569,
|
| 64 |
+
"take_id": "e246d0fc",
|
| 65 |
+
"window": [
|
| 66 |
+
14147,
|
| 67 |
+
14436
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"source_episode_index": 5,
|
| 71 |
+
"state": "committed",
|
| 72 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack_failed/svo/session_e246d0fc",
|
| 73 |
+
"svo_pulled": true,
|
| 74 |
+
"tactile_enabled": false,
|
| 75 |
+
"take_id": "af39a3ed",
|
| 76 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack_failed",
|
| 77 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 78 |
+
"timesync": {
|
| 79 |
+
"offset_s": -67313034.32310146,
|
| 80 |
+
"rtt_s": 0.001900413,
|
| 81 |
+
"uncertainty_s": 0.000896799
|
| 82 |
+
},
|
| 83 |
+
"timing": {
|
| 84 |
+
"cameras": {
|
| 85 |
+
"observation.images.agent_stereo": {
|
| 86 |
+
"held_camera": 117,
|
| 87 |
+
"held_slots": 117,
|
| 88 |
+
"imu_cached": true,
|
| 89 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 90 |
+
"missing_camera": 0,
|
| 91 |
+
"missing_fraction": 0.0,
|
| 92 |
+
"pre_roll_ns": 16666667,
|
| 93 |
+
"residual_median_s": 0.009250392,
|
| 94 |
+
"residual_p95_s": 0.075917544,
|
| 95 |
+
"samples_after_trim": 18254,
|
| 96 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 97 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 98 |
+
"total_slots": 289,
|
| 99 |
+
"trimmed_before_t0": 9132
|
| 100 |
+
},
|
| 101 |
+
"observation.images.front_stereo": {
|
| 102 |
+
"held_camera": 121,
|
| 103 |
+
"held_slots": 121,
|
| 104 |
+
"imu_cached": true,
|
| 105 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 106 |
+
"missing_camera": 0,
|
| 107 |
+
"missing_fraction": 0.0,
|
| 108 |
+
"pre_roll_ns": 16666667,
|
| 109 |
+
"residual_median_s": 0.01543364,
|
| 110 |
+
"residual_p95_s": 0.0654454416,
|
| 111 |
+
"samples_after_trim": 18250,
|
| 112 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 113 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 114 |
+
"total_slots": 289,
|
| 115 |
+
"trimmed_before_t0": 9127
|
| 116 |
+
},
|
| 117 |
+
"observation.images.left_stereo": {
|
| 118 |
+
"held_camera": 121,
|
| 119 |
+
"held_slots": 121,
|
| 120 |
+
"imu_cached": true,
|
| 121 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 122 |
+
"missing_camera": 0,
|
| 123 |
+
"missing_fraction": 0.0,
|
| 124 |
+
"pre_roll_ns": 16666667,
|
| 125 |
+
"residual_median_s": 0.015461896,
|
| 126 |
+
"residual_p95_s": 0.10880169439999943,
|
| 127 |
+
"samples_after_trim": 18251,
|
| 128 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 129 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 130 |
+
"total_slots": 289,
|
| 131 |
+
"trimmed_before_t0": 9129
|
| 132 |
+
},
|
| 133 |
+
"observation.images.wrist_stereo": {
|
| 134 |
+
"held_camera": 122,
|
| 135 |
+
"held_slots": 122,
|
| 136 |
+
"imu_cached": true,
|
| 137 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 138 |
+
"missing_camera": 0,
|
| 139 |
+
"missing_fraction": 0.0,
|
| 140 |
+
"pre_roll_ns": 16666667,
|
| 141 |
+
"residual_median_s": 0.009232144,
|
| 142 |
+
"residual_p95_s": 0.06916639519999944,
|
| 143 |
+
"samples_after_trim": 18251,
|
| 144 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 145 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 146 |
+
"total_slots": 289,
|
| 147 |
+
"trimmed_before_t0": 9129
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"fps": 30.0,
|
| 151 |
+
"frame_times_s": {
|
| 152 |
+
"count": 289,
|
| 153 |
+
"first": 1786063275.8512356,
|
| 154 |
+
"last": 1786063285.4512358,
|
| 155 |
+
"spliced": true
|
| 156 |
+
},
|
| 157 |
+
"imu_dir": "imu",
|
| 158 |
+
"jetson_folder": "take_e246d0fc",
|
| 159 |
+
"n_frames": 289,
|
| 160 |
+
"record_ack_wall_s": 1786063275.8512356,
|
| 161 |
+
"session": {
|
| 162 |
+
"clip_index": 13,
|
| 163 |
+
"n_clips": 34,
|
| 164 |
+
"segments": [
|
| 165 |
+
[
|
| 166 |
+
14147,
|
| 167 |
+
14436
|
| 168 |
+
]
|
| 169 |
+
],
|
| 170 |
+
"take_id": "e246d0fc",
|
| 171 |
+
"window": [
|
| 172 |
+
14147,
|
| 173 |
+
14436
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"spliced": true,
|
| 177 |
+
"t0_image_ns": 1718750241528134144,
|
| 178 |
+
"timesync": {
|
| 179 |
+
"offset_s": -67313034.32310146,
|
| 180 |
+
"rtt_s": 0.001900413,
|
| 181 |
+
"uncertainty_s": 0.000896799
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"trajectory_alignment": {
|
| 185 |
+
"clamped_frames": 0,
|
| 186 |
+
"fps": 30.0,
|
| 187 |
+
"frames": 289,
|
| 188 |
+
"gap_max_s": 0.014476299285888672,
|
| 189 |
+
"gap_median_s": 0.004992485046386719,
|
| 190 |
+
"gap_p95_s": 0.008552074432373047,
|
| 191 |
+
"query_span_s": [
|
| 192 |
+
1786063275.8512356,
|
| 193 |
+
1786063285.4512358
|
| 194 |
+
],
|
| 195 |
+
"seams": null,
|
| 196 |
+
"sidecar_samples": 484,
|
| 197 |
+
"sidecar_span_s": [
|
| 198 |
+
1786063275.8443182,
|
| 199 |
+
1786063285.5028265
|
| 200 |
+
],
|
| 201 |
+
"spliced": true
|
| 202 |
+
},
|
| 203 |
+
"updated_at": 1786410466.9495687,
|
| 204 |
+
"video_files": {
|
| 205 |
+
"observation.images.agent_stereo": {
|
| 206 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 207 |
+
"stats": null
|
| 208 |
+
},
|
| 209 |
+
"observation.images.front_stereo": {
|
| 210 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 211 |
+
"stats": null
|
| 212 |
+
},
|
| 213 |
+
"observation.images.left_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.wrist_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
}
|
.recording_staging/_committed/episode-000005-af39a3ed/timing.json
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 122,
|
| 6 |
+
"total_slots": 289,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.009232144,
|
| 9 |
+
"residual_p95_s": 0.06916639519999944,
|
| 10 |
+
"held_slots": 122,
|
| 11 |
+
"trimmed_before_t0": 9129,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 18251,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 117,
|
| 22 |
+
"total_slots": 289,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.009250392,
|
| 25 |
+
"residual_p95_s": 0.075917544,
|
| 26 |
+
"held_slots": 117,
|
| 27 |
+
"trimmed_before_t0": 9132,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 18254,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 121,
|
| 38 |
+
"total_slots": 289,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.015461896,
|
| 41 |
+
"residual_p95_s": 0.10880169439999943,
|
| 42 |
+
"held_slots": 121,
|
| 43 |
+
"trimmed_before_t0": 9129,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 18251,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 121,
|
| 54 |
+
"total_slots": 289,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.01543364,
|
| 57 |
+
"residual_p95_s": 0.0654454416,
|
| 58 |
+
"held_slots": 121,
|
| 59 |
+
"trimmed_before_t0": 9127,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 18250,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 289,
|
| 70 |
+
"t0_image_ns": 1718750241528134144,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063275.8512356,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 13,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
14147,
|
| 87 |
+
14436
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"window": [
|
| 91 |
+
14147,
|
| 92 |
+
14436
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"frame_times_s": {
|
| 96 |
+
"first": 1786063275.8512356,
|
| 97 |
+
"last": 1786063285.4512358,
|
| 98 |
+
"count": 289,
|
| 99 |
+
"spliced": true
|
| 100 |
+
},
|
| 101 |
+
"trajectory_alignment": {
|
| 102 |
+
"frames": 289,
|
| 103 |
+
"fps": 30.0,
|
| 104 |
+
"spliced": true,
|
| 105 |
+
"sidecar_samples": 484,
|
| 106 |
+
"sidecar_span_s": [
|
| 107 |
+
1786063275.8443182,
|
| 108 |
+
1786063285.5028265
|
| 109 |
+
],
|
| 110 |
+
"query_span_s": [
|
| 111 |
+
1786063275.8512356,
|
| 112 |
+
1786063285.4512358
|
| 113 |
+
],
|
| 114 |
+
"clamped_frames": 0,
|
| 115 |
+
"gap_median_s": 0.004992485046386719,
|
| 116 |
+
"gap_p95_s": 0.008552074432373047,
|
| 117 |
+
"gap_max_s": 0.014476299285888672,
|
| 118 |
+
"seams": null
|
| 119 |
+
}
|
| 120 |
+
}
|
.recording_staging/_committed/episode-000006-bc4f8887/manifest.json
ADDED
|
@@ -0,0 +1,222 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 7,
|
| 5 |
+
"created_at": 1786064214.2436235,
|
| 6 |
+
"episode_index": 7,
|
| 7 |
+
"episode_len": 514,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 6,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063171.084569,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 858,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 10,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
11004,
|
| 60 |
+
11518
|
| 61 |
+
]
|
| 62 |
+
],
|
| 63 |
+
"t0_wall_s": 1786062804.284569,
|
| 64 |
+
"take_id": "e246d0fc",
|
| 65 |
+
"window": [
|
| 66 |
+
10986,
|
| 67 |
+
11525
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"source_episode_index": 6,
|
| 71 |
+
"state": "committed",
|
| 72 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 73 |
+
"svo_pulled": true,
|
| 74 |
+
"tactile_enabled": false,
|
| 75 |
+
"take_id": "bc4f8887",
|
| 76 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 77 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 78 |
+
"timesync": {
|
| 79 |
+
"offset_s": -67313034.32310146,
|
| 80 |
+
"rtt_s": 0.001900413,
|
| 81 |
+
"uncertainty_s": 0.000896799
|
| 82 |
+
},
|
| 83 |
+
"timing": {
|
| 84 |
+
"cameras": {
|
| 85 |
+
"observation.images.agent_stereo": {
|
| 86 |
+
"held_camera": 204,
|
| 87 |
+
"held_slots": 204,
|
| 88 |
+
"imu_cached": true,
|
| 89 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 90 |
+
"missing_camera": 0,
|
| 91 |
+
"missing_fraction": 0.0,
|
| 92 |
+
"pre_roll_ns": 16666667,
|
| 93 |
+
"residual_median_s": 0.009718644,
|
| 94 |
+
"residual_p95_s": 0.043087308399999996,
|
| 95 |
+
"samples_after_trim": 20241,
|
| 96 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 97 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 98 |
+
"total_slots": 514,
|
| 99 |
+
"trimmed_before_t0": 7145
|
| 100 |
+
},
|
| 101 |
+
"observation.images.front_stereo": {
|
| 102 |
+
"held_camera": 206,
|
| 103 |
+
"held_slots": 206,
|
| 104 |
+
"imu_cached": true,
|
| 105 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 106 |
+
"missing_camera": 0,
|
| 107 |
+
"missing_fraction": 0.0,
|
| 108 |
+
"pre_roll_ns": 16666667,
|
| 109 |
+
"residual_median_s": 0.015887268,
|
| 110 |
+
"residual_p95_s": 0.0492482308,
|
| 111 |
+
"samples_after_trim": 20234,
|
| 112 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 113 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 114 |
+
"total_slots": 514,
|
| 115 |
+
"trimmed_before_t0": 7143
|
| 116 |
+
},
|
| 117 |
+
"observation.images.left_stereo": {
|
| 118 |
+
"held_camera": 207,
|
| 119 |
+
"held_slots": 207,
|
| 120 |
+
"imu_cached": true,
|
| 121 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 122 |
+
"missing_camera": 0,
|
| 123 |
+
"missing_fraction": 0.0,
|
| 124 |
+
"pre_roll_ns": 16666667,
|
| 125 |
+
"residual_median_s": 0.015909516,
|
| 126 |
+
"residual_p95_s": 0.0658874816,
|
| 127 |
+
"samples_after_trim": 20233,
|
| 128 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 129 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 130 |
+
"total_slots": 514,
|
| 131 |
+
"trimmed_before_t0": 7147
|
| 132 |
+
},
|
| 133 |
+
"observation.images.wrist_stereo": {
|
| 134 |
+
"held_camera": 208,
|
| 135 |
+
"held_slots": 208,
|
| 136 |
+
"imu_cached": true,
|
| 137 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 138 |
+
"missing_camera": 0,
|
| 139 |
+
"missing_fraction": 0.0,
|
| 140 |
+
"pre_roll_ns": 16666667,
|
| 141 |
+
"residual_median_s": 0.009707644,
|
| 142 |
+
"residual_p95_s": 0.04780660839999954,
|
| 143 |
+
"samples_after_trim": 20236,
|
| 144 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 145 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 146 |
+
"total_slots": 514,
|
| 147 |
+
"trimmed_before_t0": 7144
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"fps": 30.0,
|
| 151 |
+
"frame_times_s": {
|
| 152 |
+
"count": 514,
|
| 153 |
+
"first": 1786063171.084569,
|
| 154 |
+
"last": 1786063188.1845691,
|
| 155 |
+
"spliced": true
|
| 156 |
+
},
|
| 157 |
+
"imu_dir": "imu",
|
| 158 |
+
"jetson_folder": "take_e246d0fc",
|
| 159 |
+
"n_frames": 514,
|
| 160 |
+
"record_ack_wall_s": 1786063171.084569,
|
| 161 |
+
"session": {
|
| 162 |
+
"clip_index": 10,
|
| 163 |
+
"n_clips": 34,
|
| 164 |
+
"segments": [
|
| 165 |
+
[
|
| 166 |
+
11004,
|
| 167 |
+
11518
|
| 168 |
+
]
|
| 169 |
+
],
|
| 170 |
+
"take_id": "e246d0fc",
|
| 171 |
+
"window": [
|
| 172 |
+
10986,
|
| 173 |
+
11525
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"spliced": true,
|
| 177 |
+
"t0_image_ns": 1718750136761467392,
|
| 178 |
+
"timesync": {
|
| 179 |
+
"offset_s": -67313034.32310146,
|
| 180 |
+
"rtt_s": 0.001900413,
|
| 181 |
+
"uncertainty_s": 0.000896799
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"trajectory_alignment": {
|
| 185 |
+
"clamped_frames": 0,
|
| 186 |
+
"fps": 30.0,
|
| 187 |
+
"frames": 514,
|
| 188 |
+
"gap_max_s": 0.010519027709960938,
|
| 189 |
+
"gap_median_s": 0.004930853843688965,
|
| 190 |
+
"gap_p95_s": 0.008590483665466308,
|
| 191 |
+
"query_span_s": [
|
| 192 |
+
1786063171.084569,
|
| 193 |
+
1786063188.1845691
|
| 194 |
+
],
|
| 195 |
+
"seams": null,
|
| 196 |
+
"sidecar_samples": 858,
|
| 197 |
+
"sidecar_span_s": [
|
| 198 |
+
1786063171.0826502,
|
| 199 |
+
1786063188.2222261
|
| 200 |
+
],
|
| 201 |
+
"spliced": true
|
| 202 |
+
},
|
| 203 |
+
"updated_at": 1786410328.648782,
|
| 204 |
+
"video_files": {
|
| 205 |
+
"observation.images.agent_stereo": {
|
| 206 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 207 |
+
"stats": null
|
| 208 |
+
},
|
| 209 |
+
"observation.images.front_stereo": {
|
| 210 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 211 |
+
"stats": null
|
| 212 |
+
},
|
| 213 |
+
"observation.images.left_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.wrist_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
}
|
.recording_staging/_committed/episode-000006-bc4f8887/timing.json
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 208,
|
| 6 |
+
"total_slots": 514,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.009707644,
|
| 9 |
+
"residual_p95_s": 0.04780660839999954,
|
| 10 |
+
"held_slots": 208,
|
| 11 |
+
"trimmed_before_t0": 7144,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 20236,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 204,
|
| 22 |
+
"total_slots": 514,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.009718644,
|
| 25 |
+
"residual_p95_s": 0.043087308399999996,
|
| 26 |
+
"held_slots": 204,
|
| 27 |
+
"trimmed_before_t0": 7145,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 20241,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 207,
|
| 38 |
+
"total_slots": 514,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.015909516,
|
| 41 |
+
"residual_p95_s": 0.0658874816,
|
| 42 |
+
"held_slots": 207,
|
| 43 |
+
"trimmed_before_t0": 7147,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 20233,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 206,
|
| 54 |
+
"total_slots": 514,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.015887268,
|
| 57 |
+
"residual_p95_s": 0.0492482308,
|
| 58 |
+
"held_slots": 206,
|
| 59 |
+
"trimmed_before_t0": 7143,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 20234,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 514,
|
| 70 |
+
"t0_image_ns": 1718750136761467392,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063171.084569,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 10,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
11004,
|
| 87 |
+
11518
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"window": [
|
| 91 |
+
10986,
|
| 92 |
+
11525
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"frame_times_s": {
|
| 96 |
+
"first": 1786063171.084569,
|
| 97 |
+
"last": 1786063188.1845691,
|
| 98 |
+
"count": 514,
|
| 99 |
+
"spliced": true
|
| 100 |
+
},
|
| 101 |
+
"trajectory_alignment": {
|
| 102 |
+
"frames": 514,
|
| 103 |
+
"fps": 30.0,
|
| 104 |
+
"spliced": true,
|
| 105 |
+
"sidecar_samples": 858,
|
| 106 |
+
"sidecar_span_s": [
|
| 107 |
+
1786063171.0826502,
|
| 108 |
+
1786063188.2222261
|
| 109 |
+
],
|
| 110 |
+
"query_span_s": [
|
| 111 |
+
1786063171.084569,
|
| 112 |
+
1786063188.1845691
|
| 113 |
+
],
|
| 114 |
+
"clamped_frames": 0,
|
| 115 |
+
"gap_median_s": 0.004930853843688965,
|
| 116 |
+
"gap_p95_s": 0.008590483665466308,
|
| 117 |
+
"gap_max_s": 0.010519027709960938,
|
| 118 |
+
"seams": null
|
| 119 |
+
}
|
| 120 |
+
}
|
.recording_staging/_committed/episode-000008-8107d88b/manifest.json
ADDED
|
@@ -0,0 +1,222 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 9,
|
| 5 |
+
"created_at": 1786064215.1932023,
|
| 6 |
+
"episode_index": 9,
|
| 7 |
+
"episode_len": 451,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 3.533s of video but 106 frames at 15 fps is 7.067s (drift 3533 ms > 100 ms)",
|
| 9 |
+
"failed_take": true,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 8,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786064033.6845691,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 754,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 29,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
36882,
|
| 60 |
+
37333
|
| 61 |
+
]
|
| 62 |
+
],
|
| 63 |
+
"t0_wall_s": 1786062804.284569,
|
| 64 |
+
"take_id": "e246d0fc",
|
| 65 |
+
"window": [
|
| 66 |
+
36864,
|
| 67 |
+
37346
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"source_episode_index": 8,
|
| 71 |
+
"state": "committed",
|
| 72 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack_failed/svo/session_e246d0fc",
|
| 73 |
+
"svo_pulled": true,
|
| 74 |
+
"tactile_enabled": false,
|
| 75 |
+
"take_id": "8107d88b",
|
| 76 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack_failed",
|
| 77 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 78 |
+
"timesync": {
|
| 79 |
+
"offset_s": -67313034.32310146,
|
| 80 |
+
"rtt_s": 0.001900413,
|
| 81 |
+
"uncertainty_s": 0.000896799
|
| 82 |
+
},
|
| 83 |
+
"timing": {
|
| 84 |
+
"cameras": {
|
| 85 |
+
"observation.images.agent_stereo": {
|
| 86 |
+
"held_camera": 171,
|
| 87 |
+
"held_slots": 171,
|
| 88 |
+
"imu_cached": true,
|
| 89 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 90 |
+
"missing_camera": 0,
|
| 91 |
+
"missing_fraction": 0.0,
|
| 92 |
+
"pre_roll_ns": 16666667,
|
| 93 |
+
"residual_median_s": 0.011076608,
|
| 94 |
+
"residual_p95_s": 0.038961644000000004,
|
| 95 |
+
"samples_after_trim": 3430,
|
| 96 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 97 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 98 |
+
"total_slots": 451,
|
| 99 |
+
"trimmed_before_t0": 23956
|
| 100 |
+
},
|
| 101 |
+
"observation.images.front_stereo": {
|
| 102 |
+
"held_camera": 171,
|
| 103 |
+
"held_slots": 171,
|
| 104 |
+
"imu_cached": true,
|
| 105 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 106 |
+
"missing_camera": 0,
|
| 107 |
+
"missing_fraction": 0.0,
|
| 108 |
+
"pre_roll_ns": 16666667,
|
| 109 |
+
"residual_median_s": 0.011930896,
|
| 110 |
+
"residual_p95_s": 0.045274644,
|
| 111 |
+
"samples_after_trim": 3431,
|
| 112 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 113 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 114 |
+
"total_slots": 451,
|
| 115 |
+
"trimmed_before_t0": 23946
|
| 116 |
+
},
|
| 117 |
+
"observation.images.left_stereo": {
|
| 118 |
+
"held_camera": 173,
|
| 119 |
+
"held_slots": 173,
|
| 120 |
+
"imu_cached": true,
|
| 121 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 122 |
+
"missing_camera": 0,
|
| 123 |
+
"missing_fraction": 0.0,
|
| 124 |
+
"pre_roll_ns": 16666667,
|
| 125 |
+
"residual_median_s": 0.011951648,
|
| 126 |
+
"residual_p95_s": 0.045312896,
|
| 127 |
+
"samples_after_trim": 3432,
|
| 128 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 129 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 130 |
+
"total_slots": 451,
|
| 131 |
+
"trimmed_before_t0": 23948
|
| 132 |
+
},
|
| 133 |
+
"observation.images.wrist_stereo": {
|
| 134 |
+
"held_camera": 173,
|
| 135 |
+
"held_slots": 173,
|
| 136 |
+
"imu_cached": true,
|
| 137 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 138 |
+
"missing_camera": 0,
|
| 139 |
+
"missing_fraction": 0.0,
|
| 140 |
+
"pre_roll_ns": 16666667,
|
| 141 |
+
"residual_median_s": 0.011097856,
|
| 142 |
+
"residual_p95_s": 0.038961644000000004,
|
| 143 |
+
"samples_after_trim": 3432,
|
| 144 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 145 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 146 |
+
"total_slots": 451,
|
| 147 |
+
"trimmed_before_t0": 23948
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"fps": 30.0,
|
| 151 |
+
"frame_times_s": {
|
| 152 |
+
"count": 451,
|
| 153 |
+
"first": 1786064033.6845691,
|
| 154 |
+
"last": 1786064048.6845691,
|
| 155 |
+
"spliced": true
|
| 156 |
+
},
|
| 157 |
+
"imu_dir": "imu",
|
| 158 |
+
"jetson_folder": "take_e246d0fc",
|
| 159 |
+
"n_frames": 451,
|
| 160 |
+
"record_ack_wall_s": 1786064033.6845691,
|
| 161 |
+
"session": {
|
| 162 |
+
"clip_index": 29,
|
| 163 |
+
"n_clips": 34,
|
| 164 |
+
"segments": [
|
| 165 |
+
[
|
| 166 |
+
36882,
|
| 167 |
+
37333
|
| 168 |
+
]
|
| 169 |
+
],
|
| 170 |
+
"take_id": "e246d0fc",
|
| 171 |
+
"window": [
|
| 172 |
+
36864,
|
| 173 |
+
37346
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"spliced": true,
|
| 177 |
+
"t0_image_ns": 1718750999361467648,
|
| 178 |
+
"timesync": {
|
| 179 |
+
"offset_s": -67313034.32310146,
|
| 180 |
+
"rtt_s": 0.001900413,
|
| 181 |
+
"uncertainty_s": 0.000896799
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"trajectory_alignment": {
|
| 185 |
+
"clamped_frames": 0,
|
| 186 |
+
"fps": 30.0,
|
| 187 |
+
"frames": 451,
|
| 188 |
+
"gap_max_s": 0.010531425476074219,
|
| 189 |
+
"gap_median_s": 0.00384521484375,
|
| 190 |
+
"gap_p95_s": 0.009649991989135742,
|
| 191 |
+
"query_span_s": [
|
| 192 |
+
1786064033.6845691,
|
| 193 |
+
1786064048.6845691
|
| 194 |
+
],
|
| 195 |
+
"seams": null,
|
| 196 |
+
"sidecar_samples": 754,
|
| 197 |
+
"sidecar_span_s": [
|
| 198 |
+
1786064033.6669986,
|
| 199 |
+
1786064048.7268507
|
| 200 |
+
],
|
| 201 |
+
"spliced": true
|
| 202 |
+
},
|
| 203 |
+
"updated_at": 1786411114.1937592,
|
| 204 |
+
"video_files": {
|
| 205 |
+
"observation.images.agent_stereo": {
|
| 206 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 207 |
+
"stats": null
|
| 208 |
+
},
|
| 209 |
+
"observation.images.front_stereo": {
|
| 210 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 211 |
+
"stats": null
|
| 212 |
+
},
|
| 213 |
+
"observation.images.left_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.wrist_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
}
|
.recording_staging/_committed/episode-000008-8107d88b/timing.json
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 173,
|
| 6 |
+
"total_slots": 451,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.011097856,
|
| 9 |
+
"residual_p95_s": 0.038961644000000004,
|
| 10 |
+
"held_slots": 173,
|
| 11 |
+
"trimmed_before_t0": 23948,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 3432,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 171,
|
| 22 |
+
"total_slots": 451,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.011076608,
|
| 25 |
+
"residual_p95_s": 0.038961644000000004,
|
| 26 |
+
"held_slots": 171,
|
| 27 |
+
"trimmed_before_t0": 23956,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 3430,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 173,
|
| 38 |
+
"total_slots": 451,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.011951648,
|
| 41 |
+
"residual_p95_s": 0.045312896,
|
| 42 |
+
"held_slots": 173,
|
| 43 |
+
"trimmed_before_t0": 23948,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 3432,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 171,
|
| 54 |
+
"total_slots": 451,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.011930896,
|
| 57 |
+
"residual_p95_s": 0.045274644,
|
| 58 |
+
"held_slots": 171,
|
| 59 |
+
"trimmed_before_t0": 23946,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 3431,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 451,
|
| 70 |
+
"t0_image_ns": 1718750999361467648,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786064033.6845691,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 29,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
36882,
|
| 87 |
+
37333
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"window": [
|
| 91 |
+
36864,
|
| 92 |
+
37346
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"frame_times_s": {
|
| 96 |
+
"first": 1786064033.6845691,
|
| 97 |
+
"last": 1786064048.6845691,
|
| 98 |
+
"count": 451,
|
| 99 |
+
"spliced": true
|
| 100 |
+
},
|
| 101 |
+
"trajectory_alignment": {
|
| 102 |
+
"frames": 451,
|
| 103 |
+
"fps": 30.0,
|
| 104 |
+
"spliced": true,
|
| 105 |
+
"sidecar_samples": 754,
|
| 106 |
+
"sidecar_span_s": [
|
| 107 |
+
1786064033.6669986,
|
| 108 |
+
1786064048.7268507
|
| 109 |
+
],
|
| 110 |
+
"query_span_s": [
|
| 111 |
+
1786064033.6845691,
|
| 112 |
+
1786064048.6845691
|
| 113 |
+
],
|
| 114 |
+
"clamped_frames": 0,
|
| 115 |
+
"gap_median_s": 0.00384521484375,
|
| 116 |
+
"gap_p95_s": 0.009649991989135742,
|
| 117 |
+
"gap_max_s": 0.010531425476074219,
|
| 118 |
+
"seams": null
|
| 119 |
+
}
|
| 120 |
+
}
|
.recording_staging/_committed/episode-000008-d5484f84/manifest.json
ADDED
|
@@ -0,0 +1,230 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 9,
|
| 5 |
+
"created_at": 1786064214.4064126,
|
| 6 |
+
"episode_index": 9,
|
| 7 |
+
"episode_len": 392,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 8,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063304.6845691,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 648,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 14,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
15012,
|
| 60 |
+
15139
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
15158,
|
| 64 |
+
15423
|
| 65 |
+
]
|
| 66 |
+
],
|
| 67 |
+
"t0_wall_s": 1786062804.284569,
|
| 68 |
+
"take_id": "e246d0fc",
|
| 69 |
+
"window": [
|
| 70 |
+
14998,
|
| 71 |
+
15423
|
| 72 |
+
]
|
| 73 |
+
},
|
| 74 |
+
"source_episode_index": 8,
|
| 75 |
+
"state": "committed",
|
| 76 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 77 |
+
"svo_pulled": true,
|
| 78 |
+
"tactile_enabled": false,
|
| 79 |
+
"take_id": "d5484f84",
|
| 80 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 81 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 82 |
+
"timesync": {
|
| 83 |
+
"offset_s": -67313034.32310146,
|
| 84 |
+
"rtt_s": 0.001900413,
|
| 85 |
+
"uncertainty_s": 0.000896799
|
| 86 |
+
},
|
| 87 |
+
"timing": {
|
| 88 |
+
"cameras": {
|
| 89 |
+
"observation.images.agent_stereo": {
|
| 90 |
+
"held_camera": 163,
|
| 91 |
+
"held_slots": 163,
|
| 92 |
+
"imu_cached": true,
|
| 93 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 94 |
+
"missing_camera": 0,
|
| 95 |
+
"missing_fraction": 0.0,
|
| 96 |
+
"pre_roll_ns": 16666667,
|
| 97 |
+
"residual_median_s": 0.009097396,
|
| 98 |
+
"residual_p95_s": 0.0591014824,
|
| 99 |
+
"samples_after_trim": 17698,
|
| 100 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 101 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 102 |
+
"total_slots": 392,
|
| 103 |
+
"trimmed_before_t0": 9688
|
| 104 |
+
},
|
| 105 |
+
"observation.images.front_stereo": {
|
| 106 |
+
"held_camera": 162,
|
| 107 |
+
"held_slots": 162,
|
| 108 |
+
"imu_cached": true,
|
| 109 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 110 |
+
"missing_camera": 0,
|
| 111 |
+
"missing_fraction": 0.0,
|
| 112 |
+
"pre_roll_ns": 16666667,
|
| 113 |
+
"residual_median_s": 0.015289892,
|
| 114 |
+
"residual_p95_s": 0.06529970560000001,
|
| 115 |
+
"samples_after_trim": 17695,
|
| 116 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 117 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 118 |
+
"total_slots": 392,
|
| 119 |
+
"trimmed_before_t0": 9682
|
| 120 |
+
},
|
| 121 |
+
"observation.images.left_stereo": {
|
| 122 |
+
"held_camera": 170,
|
| 123 |
+
"held_slots": 170,
|
| 124 |
+
"imu_cached": true,
|
| 125 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 126 |
+
"missing_camera": 0,
|
| 127 |
+
"missing_fraction": 0.0,
|
| 128 |
+
"pre_roll_ns": 16666667,
|
| 129 |
+
"residual_median_s": 0.01531952,
|
| 130 |
+
"residual_p95_s": 0.0819882824,
|
| 131 |
+
"samples_after_trim": 17696,
|
| 132 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 133 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 134 |
+
"total_slots": 392,
|
| 135 |
+
"trimmed_before_t0": 9684
|
| 136 |
+
},
|
| 137 |
+
"observation.images.wrist_stereo": {
|
| 138 |
+
"held_camera": 161,
|
| 139 |
+
"held_slots": 161,
|
| 140 |
+
"imu_cached": true,
|
| 141 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 142 |
+
"missing_camera": 0,
|
| 143 |
+
"missing_fraction": 0.0,
|
| 144 |
+
"pre_roll_ns": 16666667,
|
| 145 |
+
"residual_median_s": 0.009082772,
|
| 146 |
+
"residual_p95_s": 0.059103866799999995,
|
| 147 |
+
"samples_after_trim": 17696,
|
| 148 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 149 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 150 |
+
"total_slots": 392,
|
| 151 |
+
"trimmed_before_t0": 9684
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"fps": 30.0,
|
| 155 |
+
"frame_times_s": {
|
| 156 |
+
"count": 392,
|
| 157 |
+
"first": 1786063304.6845691,
|
| 158 |
+
"last": 1786063318.3512356,
|
| 159 |
+
"spliced": true
|
| 160 |
+
},
|
| 161 |
+
"imu_dir": "imu",
|
| 162 |
+
"jetson_folder": "take_e246d0fc",
|
| 163 |
+
"n_frames": 392,
|
| 164 |
+
"record_ack_wall_s": 1786063304.6845691,
|
| 165 |
+
"session": {
|
| 166 |
+
"clip_index": 14,
|
| 167 |
+
"n_clips": 34,
|
| 168 |
+
"segments": [
|
| 169 |
+
[
|
| 170 |
+
15012,
|
| 171 |
+
15139
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
15158,
|
| 175 |
+
15423
|
| 176 |
+
]
|
| 177 |
+
],
|
| 178 |
+
"take_id": "e246d0fc",
|
| 179 |
+
"window": [
|
| 180 |
+
14998,
|
| 181 |
+
15423
|
| 182 |
+
]
|
| 183 |
+
},
|
| 184 |
+
"spliced": true,
|
| 185 |
+
"t0_image_ns": 1718750270361467648,
|
| 186 |
+
"timesync": {
|
| 187 |
+
"offset_s": -67313034.32310146,
|
| 188 |
+
"rtt_s": 0.001900413,
|
| 189 |
+
"uncertainty_s": 0.000896799
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"trajectory_alignment": {
|
| 193 |
+
"clamped_frames": 0,
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"frames": 392,
|
| 196 |
+
"gap_max_s": 0.10361337661743164,
|
| 197 |
+
"gap_median_s": 0.004564523696899414,
|
| 198 |
+
"gap_p95_s": 0.008918058872222901,
|
| 199 |
+
"query_span_s": [
|
| 200 |
+
1786063304.6845691,
|
| 201 |
+
1786063318.3512356
|
| 202 |
+
],
|
| 203 |
+
"seams": null,
|
| 204 |
+
"sidecar_samples": 648,
|
| 205 |
+
"sidecar_span_s": [
|
| 206 |
+
1786063304.6829488,
|
| 207 |
+
1786063318.40224
|
| 208 |
+
],
|
| 209 |
+
"spliced": true
|
| 210 |
+
},
|
| 211 |
+
"updated_at": 1786410506.0654976,
|
| 212 |
+
"video_files": {
|
| 213 |
+
"observation.images.agent_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.front_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
},
|
| 221 |
+
"observation.images.left_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.wrist_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
}
|
| 229 |
+
}
|
| 230 |
+
}
|
.recording_staging/_committed/episode-000008-d5484f84/timing.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 161,
|
| 6 |
+
"total_slots": 392,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.009082772,
|
| 9 |
+
"residual_p95_s": 0.059103866799999995,
|
| 10 |
+
"held_slots": 161,
|
| 11 |
+
"trimmed_before_t0": 9684,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 17696,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 163,
|
| 22 |
+
"total_slots": 392,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.009097396,
|
| 25 |
+
"residual_p95_s": 0.0591014824,
|
| 26 |
+
"held_slots": 163,
|
| 27 |
+
"trimmed_before_t0": 9688,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 17698,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 170,
|
| 38 |
+
"total_slots": 392,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.01531952,
|
| 41 |
+
"residual_p95_s": 0.0819882824,
|
| 42 |
+
"held_slots": 170,
|
| 43 |
+
"trimmed_before_t0": 9684,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 17696,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 162,
|
| 54 |
+
"total_slots": 392,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.015289892,
|
| 57 |
+
"residual_p95_s": 0.06529970560000001,
|
| 58 |
+
"held_slots": 162,
|
| 59 |
+
"trimmed_before_t0": 9682,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 17695,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 392,
|
| 70 |
+
"t0_image_ns": 1718750270361467648,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063304.6845691,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 14,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
15012,
|
| 87 |
+
15139
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
15158,
|
| 91 |
+
15423
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
"window": [
|
| 95 |
+
14998,
|
| 96 |
+
15423
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"frame_times_s": {
|
| 100 |
+
"first": 1786063304.6845691,
|
| 101 |
+
"last": 1786063318.3512356,
|
| 102 |
+
"count": 392,
|
| 103 |
+
"spliced": true
|
| 104 |
+
},
|
| 105 |
+
"trajectory_alignment": {
|
| 106 |
+
"frames": 392,
|
| 107 |
+
"fps": 30.0,
|
| 108 |
+
"spliced": true,
|
| 109 |
+
"sidecar_samples": 648,
|
| 110 |
+
"sidecar_span_s": [
|
| 111 |
+
1786063304.6829488,
|
| 112 |
+
1786063318.40224
|
| 113 |
+
],
|
| 114 |
+
"query_span_s": [
|
| 115 |
+
1786063304.6845691,
|
| 116 |
+
1786063318.3512356
|
| 117 |
+
],
|
| 118 |
+
"clamped_frames": 0,
|
| 119 |
+
"gap_median_s": 0.004564523696899414,
|
| 120 |
+
"gap_p95_s": 0.008918058872222901,
|
| 121 |
+
"gap_max_s": 0.10361337661743164,
|
| 122 |
+
"seams": null
|
| 123 |
+
}
|
| 124 |
+
}
|
.recording_staging/_committed/episode-000009-2957d807/manifest.json
ADDED
|
@@ -0,0 +1,222 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 10,
|
| 5 |
+
"created_at": 1786064215.2847738,
|
| 6 |
+
"episode_index": 10,
|
| 7 |
+
"episode_len": 112,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 3.533s of video but 106 frames at 15 fps is 7.067s (drift 3533 ms > 100 ms)",
|
| 9 |
+
"failed_take": true,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 9,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786064114.2179024,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 189,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 31,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
39298,
|
| 60 |
+
39410
|
| 61 |
+
]
|
| 62 |
+
],
|
| 63 |
+
"t0_wall_s": 1786062804.284569,
|
| 64 |
+
"take_id": "e246d0fc",
|
| 65 |
+
"window": [
|
| 66 |
+
39283,
|
| 67 |
+
39461
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"source_episode_index": 9,
|
| 71 |
+
"state": "committed",
|
| 72 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack_failed/svo/session_e246d0fc",
|
| 73 |
+
"svo_pulled": true,
|
| 74 |
+
"tactile_enabled": false,
|
| 75 |
+
"take_id": "2957d807",
|
| 76 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack_failed",
|
| 77 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 78 |
+
"timesync": {
|
| 79 |
+
"offset_s": -67313034.32310146,
|
| 80 |
+
"rtt_s": 0.001900413,
|
| 81 |
+
"uncertainty_s": 0.000896799
|
| 82 |
+
},
|
| 83 |
+
"timing": {
|
| 84 |
+
"cameras": {
|
| 85 |
+
"observation.images.agent_stereo": {
|
| 86 |
+
"held_camera": 45,
|
| 87 |
+
"held_slots": 45,
|
| 88 |
+
"imu_cached": true,
|
| 89 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 90 |
+
"missing_camera": 0,
|
| 91 |
+
"missing_fraction": 0.0,
|
| 92 |
+
"pre_roll_ns": 16666667,
|
| 93 |
+
"residual_median_s": 0.011438232,
|
| 94 |
+
"residual_p95_s": 0.038575080399999996,
|
| 95 |
+
"samples_after_trim": 1874,
|
| 96 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 97 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 98 |
+
"total_slots": 112,
|
| 99 |
+
"trimmed_before_t0": 25512
|
| 100 |
+
},
|
| 101 |
+
"observation.images.front_stereo": {
|
| 102 |
+
"held_camera": 45,
|
| 103 |
+
"held_slots": 45,
|
| 104 |
+
"imu_cached": true,
|
| 105 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 106 |
+
"missing_camera": 0,
|
| 107 |
+
"missing_fraction": 0.0,
|
| 108 |
+
"pre_roll_ns": 16666667,
|
| 109 |
+
"residual_median_s": 0.011589272,
|
| 110 |
+
"residual_p95_s": 0.0449253576,
|
| 111 |
+
"samples_after_trim": 1875,
|
| 112 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 113 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 114 |
+
"total_slots": 112,
|
| 115 |
+
"trimmed_before_t0": 25502
|
| 116 |
+
},
|
| 117 |
+
"observation.images.left_stereo": {
|
| 118 |
+
"held_camera": 45,
|
| 119 |
+
"held_slots": 45,
|
| 120 |
+
"imu_cached": true,
|
| 121 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 122 |
+
"missing_camera": 0,
|
| 123 |
+
"missing_fraction": 0.0,
|
| 124 |
+
"pre_roll_ns": 16666667,
|
| 125 |
+
"residual_median_s": 0.011608144,
|
| 126 |
+
"residual_p95_s": 0.0449404824,
|
| 127 |
+
"samples_after_trim": 1876,
|
| 128 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 129 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 130 |
+
"total_slots": 112,
|
| 131 |
+
"trimmed_before_t0": 25504
|
| 132 |
+
},
|
| 133 |
+
"observation.images.wrist_stereo": {
|
| 134 |
+
"held_camera": 45,
|
| 135 |
+
"held_slots": 45,
|
| 136 |
+
"imu_cached": true,
|
| 137 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 138 |
+
"missing_camera": 0,
|
| 139 |
+
"missing_fraction": 0.0,
|
| 140 |
+
"pre_roll_ns": 16666667,
|
| 141 |
+
"residual_median_s": 0.011466856,
|
| 142 |
+
"residual_p95_s": 0.0385649344,
|
| 143 |
+
"samples_after_trim": 1875,
|
| 144 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 145 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 146 |
+
"total_slots": 112,
|
| 147 |
+
"trimmed_before_t0": 25505
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"fps": 30.0,
|
| 151 |
+
"frame_times_s": {
|
| 152 |
+
"count": 112,
|
| 153 |
+
"first": 1786064114.2179024,
|
| 154 |
+
"last": 1786064117.9179025,
|
| 155 |
+
"spliced": true
|
| 156 |
+
},
|
| 157 |
+
"imu_dir": "imu",
|
| 158 |
+
"jetson_folder": "take_e246d0fc",
|
| 159 |
+
"n_frames": 112,
|
| 160 |
+
"record_ack_wall_s": 1786064114.2179024,
|
| 161 |
+
"session": {
|
| 162 |
+
"clip_index": 31,
|
| 163 |
+
"n_clips": 34,
|
| 164 |
+
"segments": [
|
| 165 |
+
[
|
| 166 |
+
39298,
|
| 167 |
+
39410
|
| 168 |
+
]
|
| 169 |
+
],
|
| 170 |
+
"take_id": "e246d0fc",
|
| 171 |
+
"window": [
|
| 172 |
+
39283,
|
| 173 |
+
39461
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"spliced": true,
|
| 177 |
+
"t0_image_ns": 1718751079894800896,
|
| 178 |
+
"timesync": {
|
| 179 |
+
"offset_s": -67313034.32310146,
|
| 180 |
+
"rtt_s": 0.001900413,
|
| 181 |
+
"uncertainty_s": 0.000896799
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"trajectory_alignment": {
|
| 185 |
+
"clamped_frames": 0,
|
| 186 |
+
"fps": 30.0,
|
| 187 |
+
"frames": 112,
|
| 188 |
+
"gap_max_s": 0.011827707290649414,
|
| 189 |
+
"gap_median_s": 0.0050765275955200195,
|
| 190 |
+
"gap_p95_s": 0.011005973815917969,
|
| 191 |
+
"query_span_s": [
|
| 192 |
+
1786064114.2179024,
|
| 193 |
+
1786064117.9179025
|
| 194 |
+
],
|
| 195 |
+
"seams": null,
|
| 196 |
+
"sidecar_samples": 189,
|
| 197 |
+
"sidecar_span_s": [
|
| 198 |
+
1786064114.1988878,
|
| 199 |
+
1786064117.9614453
|
| 200 |
+
],
|
| 201 |
+
"spliced": true
|
| 202 |
+
},
|
| 203 |
+
"updated_at": 1786411193.7981014,
|
| 204 |
+
"video_files": {
|
| 205 |
+
"observation.images.agent_stereo": {
|
| 206 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 207 |
+
"stats": null
|
| 208 |
+
},
|
| 209 |
+
"observation.images.front_stereo": {
|
| 210 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 211 |
+
"stats": null
|
| 212 |
+
},
|
| 213 |
+
"observation.images.left_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.wrist_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
}
|
.recording_staging/_committed/episode-000009-2957d807/timing.json
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 45,
|
| 6 |
+
"total_slots": 112,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.011466856,
|
| 9 |
+
"residual_p95_s": 0.0385649344,
|
| 10 |
+
"held_slots": 45,
|
| 11 |
+
"trimmed_before_t0": 25505,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 1875,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 45,
|
| 22 |
+
"total_slots": 112,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.011438232,
|
| 25 |
+
"residual_p95_s": 0.038575080399999996,
|
| 26 |
+
"held_slots": 45,
|
| 27 |
+
"trimmed_before_t0": 25512,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 1874,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 45,
|
| 38 |
+
"total_slots": 112,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.011608144,
|
| 41 |
+
"residual_p95_s": 0.0449404824,
|
| 42 |
+
"held_slots": 45,
|
| 43 |
+
"trimmed_before_t0": 25504,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 1876,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 45,
|
| 54 |
+
"total_slots": 112,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.011589272,
|
| 57 |
+
"residual_p95_s": 0.0449253576,
|
| 58 |
+
"held_slots": 45,
|
| 59 |
+
"trimmed_before_t0": 25502,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 1875,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 112,
|
| 70 |
+
"t0_image_ns": 1718751079894800896,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786064114.2179024,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 31,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
39298,
|
| 87 |
+
39410
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"window": [
|
| 91 |
+
39283,
|
| 92 |
+
39461
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"frame_times_s": {
|
| 96 |
+
"first": 1786064114.2179024,
|
| 97 |
+
"last": 1786064117.9179025,
|
| 98 |
+
"count": 112,
|
| 99 |
+
"spliced": true
|
| 100 |
+
},
|
| 101 |
+
"trajectory_alignment": {
|
| 102 |
+
"frames": 112,
|
| 103 |
+
"fps": 30.0,
|
| 104 |
+
"spliced": true,
|
| 105 |
+
"sidecar_samples": 189,
|
| 106 |
+
"sidecar_span_s": [
|
| 107 |
+
1786064114.1988878,
|
| 108 |
+
1786064117.9614453
|
| 109 |
+
],
|
| 110 |
+
"query_span_s": [
|
| 111 |
+
1786064114.2179024,
|
| 112 |
+
1786064117.9179025
|
| 113 |
+
],
|
| 114 |
+
"clamped_frames": 0,
|
| 115 |
+
"gap_median_s": 0.0050765275955200195,
|
| 116 |
+
"gap_p95_s": 0.011005973815917969,
|
| 117 |
+
"gap_max_s": 0.011827707290649414,
|
| 118 |
+
"seams": null
|
| 119 |
+
}
|
| 120 |
+
}
|
.recording_staging/_committed/episode-000009-c9ea57cf/manifest.json
ADDED
|
@@ -0,0 +1,230 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 10,
|
| 5 |
+
"created_at": 1786064214.4678447,
|
| 6 |
+
"episode_index": 10,
|
| 7 |
+
"episode_len": 476,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 9,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063329.384569,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 796,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 15,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
15753,
|
| 60 |
+
15892
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
15909,
|
| 64 |
+
16246
|
| 65 |
+
]
|
| 66 |
+
],
|
| 67 |
+
"t0_wall_s": 1786062804.284569,
|
| 68 |
+
"take_id": "e246d0fc",
|
| 69 |
+
"window": [
|
| 70 |
+
15729,
|
| 71 |
+
16246
|
| 72 |
+
]
|
| 73 |
+
},
|
| 74 |
+
"source_episode_index": 9,
|
| 75 |
+
"state": "committed",
|
| 76 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 77 |
+
"svo_pulled": true,
|
| 78 |
+
"tactile_enabled": false,
|
| 79 |
+
"take_id": "c9ea57cf",
|
| 80 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 81 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 82 |
+
"timesync": {
|
| 83 |
+
"offset_s": -67313034.32310146,
|
| 84 |
+
"rtt_s": 0.001900413,
|
| 85 |
+
"uncertainty_s": 0.000896799
|
| 86 |
+
},
|
| 87 |
+
"timing": {
|
| 88 |
+
"cameras": {
|
| 89 |
+
"observation.images.agent_stereo": {
|
| 90 |
+
"held_camera": 196,
|
| 91 |
+
"held_slots": 196,
|
| 92 |
+
"imu_cached": true,
|
| 93 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 94 |
+
"missing_camera": 0,
|
| 95 |
+
"missing_fraction": 0.0,
|
| 96 |
+
"pre_roll_ns": 16666667,
|
| 97 |
+
"residual_median_s": 0.00897402,
|
| 98 |
+
"residual_p95_s": 0.05895127,
|
| 99 |
+
"samples_after_trim": 17233,
|
| 100 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 101 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 102 |
+
"total_slots": 476,
|
| 103 |
+
"trimmed_before_t0": 10153
|
| 104 |
+
},
|
| 105 |
+
"observation.images.front_stereo": {
|
| 106 |
+
"held_camera": 194,
|
| 107 |
+
"held_slots": 194,
|
| 108 |
+
"imu_cached": true,
|
| 109 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 110 |
+
"missing_camera": 0,
|
| 111 |
+
"missing_fraction": 0.0,
|
| 112 |
+
"pre_roll_ns": 16666667,
|
| 113 |
+
"residual_median_s": 0.015179516,
|
| 114 |
+
"residual_p95_s": 0.065161584,
|
| 115 |
+
"samples_after_trim": 17230,
|
| 116 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 117 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 118 |
+
"total_slots": 476,
|
| 119 |
+
"trimmed_before_t0": 10147
|
| 120 |
+
},
|
| 121 |
+
"observation.images.left_stereo": {
|
| 122 |
+
"held_camera": 197,
|
| 123 |
+
"held_slots": 197,
|
| 124 |
+
"imu_cached": true,
|
| 125 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 126 |
+
"missing_camera": 0,
|
| 127 |
+
"missing_fraction": 0.0,
|
| 128 |
+
"pre_roll_ns": 16666667,
|
| 129 |
+
"residual_median_s": 0.015200268,
|
| 130 |
+
"residual_p95_s": 0.06937733,
|
| 131 |
+
"samples_after_trim": 17230,
|
| 132 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 133 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 134 |
+
"total_slots": 476,
|
| 135 |
+
"trimmed_before_t0": 10150
|
| 136 |
+
},
|
| 137 |
+
"observation.images.wrist_stereo": {
|
| 138 |
+
"held_camera": 190,
|
| 139 |
+
"held_slots": 190,
|
| 140 |
+
"imu_cached": true,
|
| 141 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 142 |
+
"missing_camera": 0,
|
| 143 |
+
"missing_fraction": 0.0,
|
| 144 |
+
"pre_roll_ns": 16666667,
|
| 145 |
+
"residual_median_s": 0.008953644,
|
| 146 |
+
"residual_p95_s": 0.046473022,
|
| 147 |
+
"samples_after_trim": 17231,
|
| 148 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 149 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 150 |
+
"total_slots": 476,
|
| 151 |
+
"trimmed_before_t0": 10149
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"fps": 30.0,
|
| 155 |
+
"frame_times_s": {
|
| 156 |
+
"count": 476,
|
| 157 |
+
"first": 1786063329.384569,
|
| 158 |
+
"last": 1786063345.784569,
|
| 159 |
+
"spliced": true
|
| 160 |
+
},
|
| 161 |
+
"imu_dir": "imu",
|
| 162 |
+
"jetson_folder": "take_e246d0fc",
|
| 163 |
+
"n_frames": 476,
|
| 164 |
+
"record_ack_wall_s": 1786063329.384569,
|
| 165 |
+
"session": {
|
| 166 |
+
"clip_index": 15,
|
| 167 |
+
"n_clips": 34,
|
| 168 |
+
"segments": [
|
| 169 |
+
[
|
| 170 |
+
15753,
|
| 171 |
+
15892
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
15909,
|
| 175 |
+
16246
|
| 176 |
+
]
|
| 177 |
+
],
|
| 178 |
+
"take_id": "e246d0fc",
|
| 179 |
+
"window": [
|
| 180 |
+
15729,
|
| 181 |
+
16246
|
| 182 |
+
]
|
| 183 |
+
},
|
| 184 |
+
"spliced": true,
|
| 185 |
+
"t0_image_ns": 1718750295061467392,
|
| 186 |
+
"timesync": {
|
| 187 |
+
"offset_s": -67313034.32310146,
|
| 188 |
+
"rtt_s": 0.001900413,
|
| 189 |
+
"uncertainty_s": 0.000896799
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"trajectory_alignment": {
|
| 193 |
+
"clamped_frames": 0,
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"frames": 476,
|
| 196 |
+
"gap_max_s": 0.014491081237792969,
|
| 197 |
+
"gap_median_s": 0.00449979305267334,
|
| 198 |
+
"gap_p95_s": 0.008852660655975342,
|
| 199 |
+
"query_span_s": [
|
| 200 |
+
1786063329.384569,
|
| 201 |
+
1786063345.784569
|
| 202 |
+
],
|
| 203 |
+
"seams": null,
|
| 204 |
+
"sidecar_samples": 796,
|
| 205 |
+
"sidecar_span_s": [
|
| 206 |
+
1786063329.3823874,
|
| 207 |
+
1786063345.8224137
|
| 208 |
+
],
|
| 209 |
+
"spliced": true
|
| 210 |
+
},
|
| 211 |
+
"updated_at": 1786410550.7837799,
|
| 212 |
+
"video_files": {
|
| 213 |
+
"observation.images.agent_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.front_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
},
|
| 221 |
+
"observation.images.left_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.wrist_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
}
|
| 229 |
+
}
|
| 230 |
+
}
|
.recording_staging/_committed/episode-000009-c9ea57cf/timing.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 190,
|
| 6 |
+
"total_slots": 476,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.008953644,
|
| 9 |
+
"residual_p95_s": 0.046473022,
|
| 10 |
+
"held_slots": 190,
|
| 11 |
+
"trimmed_before_t0": 10149,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 17231,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 196,
|
| 22 |
+
"total_slots": 476,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.00897402,
|
| 25 |
+
"residual_p95_s": 0.05895127,
|
| 26 |
+
"held_slots": 196,
|
| 27 |
+
"trimmed_before_t0": 10153,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 17233,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 197,
|
| 38 |
+
"total_slots": 476,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.015200268,
|
| 41 |
+
"residual_p95_s": 0.06937733,
|
| 42 |
+
"held_slots": 197,
|
| 43 |
+
"trimmed_before_t0": 10150,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 17230,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 194,
|
| 54 |
+
"total_slots": 476,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.015179516,
|
| 57 |
+
"residual_p95_s": 0.065161584,
|
| 58 |
+
"held_slots": 194,
|
| 59 |
+
"trimmed_before_t0": 10147,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 17230,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 476,
|
| 70 |
+
"t0_image_ns": 1718750295061467392,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063329.384569,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 15,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
15753,
|
| 87 |
+
15892
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
15909,
|
| 91 |
+
16246
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
"window": [
|
| 95 |
+
15729,
|
| 96 |
+
16246
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"frame_times_s": {
|
| 100 |
+
"first": 1786063329.384569,
|
| 101 |
+
"last": 1786063345.784569,
|
| 102 |
+
"count": 476,
|
| 103 |
+
"spliced": true
|
| 104 |
+
},
|
| 105 |
+
"trajectory_alignment": {
|
| 106 |
+
"frames": 476,
|
| 107 |
+
"fps": 30.0,
|
| 108 |
+
"spliced": true,
|
| 109 |
+
"sidecar_samples": 796,
|
| 110 |
+
"sidecar_span_s": [
|
| 111 |
+
1786063329.3823874,
|
| 112 |
+
1786063345.8224137
|
| 113 |
+
],
|
| 114 |
+
"query_span_s": [
|
| 115 |
+
1786063329.384569,
|
| 116 |
+
1786063345.784569
|
| 117 |
+
],
|
| 118 |
+
"clamped_frames": 0,
|
| 119 |
+
"gap_median_s": 0.00449979305267334,
|
| 120 |
+
"gap_p95_s": 0.008852660655975342,
|
| 121 |
+
"gap_max_s": 0.014491081237792969,
|
| 122 |
+
"seams": null
|
| 123 |
+
}
|
| 124 |
+
}
|
.recording_staging/_committed/episode-000010-b3348a09/timing.json
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 73,
|
| 6 |
+
"total_slots": 180,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.011495728,
|
| 9 |
+
"residual_p95_s": 0.055137617199999996,
|
| 10 |
+
"held_slots": 73,
|
| 11 |
+
"trimmed_before_t0": 25663,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 1717,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 78,
|
| 22 |
+
"total_slots": 180,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.011472607999999999,
|
| 25 |
+
"residual_p95_s": 0.0551973048,
|
| 26 |
+
"held_slots": 78,
|
| 27 |
+
"trimmed_before_t0": 25671,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 1715,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 75,
|
| 38 |
+
"total_slots": 180,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.011567144,
|
| 41 |
+
"residual_p95_s": 0.045736010399999714,
|
| 42 |
+
"held_slots": 75,
|
| 43 |
+
"trimmed_before_t0": 25662,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 1718,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 81,
|
| 54 |
+
"total_slots": 180,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.011550643999999999,
|
| 57 |
+
"residual_p95_s": 0.0615024084,
|
| 58 |
+
"held_slots": 81,
|
| 59 |
+
"trimmed_before_t0": 25661,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 1716,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 180,
|
| 70 |
+
"t0_image_ns": 1718751088494800896,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786064122.8179023,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 32,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
39556,
|
| 87 |
+
39736
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"window": [
|
| 91 |
+
39542,
|
| 92 |
+
39784
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"frame_times_s": {
|
| 96 |
+
"first": 1786064122.8179023,
|
| 97 |
+
"last": 1786064128.784569,
|
| 98 |
+
"count": 180,
|
| 99 |
+
"spliced": true
|
| 100 |
+
},
|
| 101 |
+
"trajectory_alignment": {
|
| 102 |
+
"frames": 180,
|
| 103 |
+
"fps": 30.0,
|
| 104 |
+
"spliced": true,
|
| 105 |
+
"sidecar_samples": 301,
|
| 106 |
+
"sidecar_span_s": [
|
| 107 |
+
1786064122.804692,
|
| 108 |
+
1786064128.8243423
|
| 109 |
+
],
|
| 110 |
+
"query_span_s": [
|
| 111 |
+
1786064122.8179023,
|
| 112 |
+
1786064128.784569
|
| 113 |
+
],
|
| 114 |
+
"clamped_frames": 0,
|
| 115 |
+
"gap_median_s": 0.005785346031188965,
|
| 116 |
+
"gap_p95_s": 0.00897310972213745,
|
| 117 |
+
"gap_max_s": 0.016973495483398438,
|
| 118 |
+
"seams": null
|
| 119 |
+
}
|
| 120 |
+
}
|
.recording_staging/_committed/episode-000011-4cacfdb4/manifest.json
ADDED
|
@@ -0,0 +1,238 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718751215398239946,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 12,
|
| 5 |
+
"created_at": 1786064557.3798382,
|
| 6 |
+
"episode_index": 12,
|
| 7 |
+
"episode_len": 491,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 3.533s of video but 106 frames at 15 fps is 7.067s (drift 3533 ms > 100 ms)",
|
| 9 |
+
"failed_take": true,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 5762,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_b80e008c/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_b80e008c/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 5759,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_b80e008c/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_b80e008c/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 5759,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_b80e008c/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_b80e008c/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 5761,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_b80e008c/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_b80e008c/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_b80e008c",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 11,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786064297.8028727,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 823,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 2,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 10,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
1442,
|
| 60 |
+
1474
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
1489,
|
| 64 |
+
1636
|
| 65 |
+
],
|
| 66 |
+
[
|
| 67 |
+
1650,
|
| 68 |
+
1962
|
| 69 |
+
]
|
| 70 |
+
],
|
| 71 |
+
"t0_wall_s": 1786064249.736206,
|
| 72 |
+
"take_id": "b80e008c",
|
| 73 |
+
"window": [
|
| 74 |
+
1426,
|
| 75 |
+
1968
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"source_episode_index": 11,
|
| 79 |
+
"state": "committed",
|
| 80 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack_failed/svo/session_b80e008c",
|
| 81 |
+
"svo_pulled": true,
|
| 82 |
+
"tactile_enabled": false,
|
| 83 |
+
"take_id": "4cacfdb4",
|
| 84 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack_failed",
|
| 85 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 86 |
+
"timesync": {
|
| 87 |
+
"offset_s": -67313034.32720292,
|
| 88 |
+
"rtt_s": 0.001852559,
|
| 89 |
+
"uncertainty_s": 0.0004891
|
| 90 |
+
},
|
| 91 |
+
"timing": {
|
| 92 |
+
"cameras": {
|
| 93 |
+
"observation.images.agent_stereo": {
|
| 94 |
+
"held_camera": 190,
|
| 95 |
+
"held_slots": 190,
|
| 96 |
+
"imu_cached": true,
|
| 97 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 98 |
+
"missing_camera": 0,
|
| 99 |
+
"missing_fraction": 0.0,
|
| 100 |
+
"pre_roll_ns": 16666667,
|
| 101 |
+
"residual_median_s": 0.014812744,
|
| 102 |
+
"residual_p95_s": 0.03525376,
|
| 103 |
+
"samples_after_trim": 4870,
|
| 104 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_45497847.svo2",
|
| 105 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 106 |
+
"total_slots": 491,
|
| 107 |
+
"trimmed_before_t0": 892
|
| 108 |
+
},
|
| 109 |
+
"observation.images.front_stereo": {
|
| 110 |
+
"held_camera": 190,
|
| 111 |
+
"held_slots": 190,
|
| 112 |
+
"imu_cached": true,
|
| 113 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 114 |
+
"missing_camera": 0,
|
| 115 |
+
"missing_fraction": 0.0,
|
| 116 |
+
"pre_roll_ns": 16666667,
|
| 117 |
+
"residual_median_s": 0.008456488,
|
| 118 |
+
"residual_p95_s": 0.041599508,
|
| 119 |
+
"samples_after_trim": 4869,
|
| 120 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_59559558.svo2",
|
| 121 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 122 |
+
"total_slots": 491,
|
| 123 |
+
"trimmed_before_t0": 892
|
| 124 |
+
},
|
| 125 |
+
"observation.images.left_stereo": {
|
| 126 |
+
"held_camera": 188,
|
| 127 |
+
"held_slots": 188,
|
| 128 |
+
"imu_cached": true,
|
| 129 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 130 |
+
"missing_camera": 0,
|
| 131 |
+
"missing_fraction": 0.0,
|
| 132 |
+
"pre_roll_ns": 16666667,
|
| 133 |
+
"residual_median_s": 0.008420984,
|
| 134 |
+
"residual_p95_s": 0.041614764,
|
| 135 |
+
"samples_after_trim": 4868,
|
| 136 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_48120998.svo2",
|
| 137 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 138 |
+
"total_slots": 491,
|
| 139 |
+
"trimmed_before_t0": 891
|
| 140 |
+
},
|
| 141 |
+
"observation.images.wrist_stereo": {
|
| 142 |
+
"held_camera": 185,
|
| 143 |
+
"held_slots": 185,
|
| 144 |
+
"imu_cached": true,
|
| 145 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 146 |
+
"missing_camera": 0,
|
| 147 |
+
"missing_fraction": 0.0,
|
| 148 |
+
"pre_roll_ns": 16666667,
|
| 149 |
+
"residual_median_s": 0.01482524,
|
| 150 |
+
"residual_p95_s": 0.035213008000000004,
|
| 151 |
+
"samples_after_trim": 4868,
|
| 152 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_57349359.svo2",
|
| 153 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 154 |
+
"total_slots": 491,
|
| 155 |
+
"trimmed_before_t0": 891
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"fps": 30.0,
|
| 159 |
+
"frame_times_s": {
|
| 160 |
+
"count": 491,
|
| 161 |
+
"first": 1786064297.8028727,
|
| 162 |
+
"last": 1786064315.1028726,
|
| 163 |
+
"spliced": true
|
| 164 |
+
},
|
| 165 |
+
"imu_dir": "imu",
|
| 166 |
+
"jetson_folder": "take_b80e008c",
|
| 167 |
+
"n_frames": 491,
|
| 168 |
+
"record_ack_wall_s": 1786064297.8028727,
|
| 169 |
+
"session": {
|
| 170 |
+
"clip_index": 2,
|
| 171 |
+
"n_clips": 10,
|
| 172 |
+
"segments": [
|
| 173 |
+
[
|
| 174 |
+
1442,
|
| 175 |
+
1474
|
| 176 |
+
],
|
| 177 |
+
[
|
| 178 |
+
1489,
|
| 179 |
+
1636
|
| 180 |
+
],
|
| 181 |
+
[
|
| 182 |
+
1650,
|
| 183 |
+
1962
|
| 184 |
+
]
|
| 185 |
+
],
|
| 186 |
+
"take_id": "b80e008c",
|
| 187 |
+
"window": [
|
| 188 |
+
1426,
|
| 189 |
+
1968
|
| 190 |
+
]
|
| 191 |
+
},
|
| 192 |
+
"spliced": true,
|
| 193 |
+
"t0_image_ns": 1718751263475669760,
|
| 194 |
+
"timesync": {
|
| 195 |
+
"offset_s": -67313034.32720292,
|
| 196 |
+
"rtt_s": 0.001852559,
|
| 197 |
+
"uncertainty_s": 0.0004891
|
| 198 |
+
}
|
| 199 |
+
},
|
| 200 |
+
"trajectory_alignment": {
|
| 201 |
+
"clamped_frames": 0,
|
| 202 |
+
"fps": 30.0,
|
| 203 |
+
"frames": 491,
|
| 204 |
+
"gap_max_s": 0.02220916748046875,
|
| 205 |
+
"gap_median_s": 0.003936290740966797,
|
| 206 |
+
"gap_p95_s": 0.009931802749633789,
|
| 207 |
+
"query_span_s": [
|
| 208 |
+
1786064297.8028727,
|
| 209 |
+
1786064315.1028726
|
| 210 |
+
],
|
| 211 |
+
"seams": null,
|
| 212 |
+
"sidecar_samples": 823,
|
| 213 |
+
"sidecar_span_s": [
|
| 214 |
+
1786064297.7801273,
|
| 215 |
+
1786064315.1524112
|
| 216 |
+
],
|
| 217 |
+
"spliced": true
|
| 218 |
+
},
|
| 219 |
+
"updated_at": 1786412607.711408,
|
| 220 |
+
"video_files": {
|
| 221 |
+
"observation.images.agent_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.front_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
},
|
| 229 |
+
"observation.images.left_stereo": {
|
| 230 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 231 |
+
"stats": null
|
| 232 |
+
},
|
| 233 |
+
"observation.images.wrist_stereo": {
|
| 234 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 235 |
+
"stats": null
|
| 236 |
+
}
|
| 237 |
+
}
|
| 238 |
+
}
|
.recording_staging/_committed/episode-000011-4cacfdb4/timing.json
ADDED
|
@@ -0,0 +1,128 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 185,
|
| 6 |
+
"total_slots": 491,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.01482524,
|
| 9 |
+
"residual_p95_s": 0.035213008000000004,
|
| 10 |
+
"held_slots": 185,
|
| 11 |
+
"trimmed_before_t0": 891,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 4868,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 190,
|
| 22 |
+
"total_slots": 491,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.014812744,
|
| 25 |
+
"residual_p95_s": 0.03525376,
|
| 26 |
+
"held_slots": 190,
|
| 27 |
+
"trimmed_before_t0": 892,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 4870,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 188,
|
| 38 |
+
"total_slots": 491,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.008420984,
|
| 41 |
+
"residual_p95_s": 0.041614764,
|
| 42 |
+
"held_slots": 188,
|
| 43 |
+
"trimmed_before_t0": 891,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 4868,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 190,
|
| 54 |
+
"total_slots": 491,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.008456488,
|
| 57 |
+
"residual_p95_s": 0.041599508,
|
| 58 |
+
"held_slots": 190,
|
| 59 |
+
"trimmed_before_t0": 892,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 4869,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-b80e008c/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 491,
|
| 70 |
+
"t0_image_ns": 1718751263475669760,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32720292,
|
| 75 |
+
"rtt_s": 0.001852559,
|
| 76 |
+
"uncertainty_s": 0.0004891
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786064297.8028727,
|
| 79 |
+
"jetson_folder": "take_b80e008c",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "b80e008c",
|
| 82 |
+
"clip_index": 2,
|
| 83 |
+
"n_clips": 10,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
1442,
|
| 87 |
+
1474
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
1489,
|
| 91 |
+
1636
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
+
1650,
|
| 95 |
+
1962
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"window": [
|
| 99 |
+
1426,
|
| 100 |
+
1968
|
| 101 |
+
]
|
| 102 |
+
},
|
| 103 |
+
"frame_times_s": {
|
| 104 |
+
"first": 1786064297.8028727,
|
| 105 |
+
"last": 1786064315.1028726,
|
| 106 |
+
"count": 491,
|
| 107 |
+
"spliced": true
|
| 108 |
+
},
|
| 109 |
+
"trajectory_alignment": {
|
| 110 |
+
"frames": 491,
|
| 111 |
+
"fps": 30.0,
|
| 112 |
+
"spliced": true,
|
| 113 |
+
"sidecar_samples": 823,
|
| 114 |
+
"sidecar_span_s": [
|
| 115 |
+
1786064297.7801273,
|
| 116 |
+
1786064315.1524112
|
| 117 |
+
],
|
| 118 |
+
"query_span_s": [
|
| 119 |
+
1786064297.8028727,
|
| 120 |
+
1786064315.1028726
|
| 121 |
+
],
|
| 122 |
+
"clamped_frames": 0,
|
| 123 |
+
"gap_median_s": 0.003936290740966797,
|
| 124 |
+
"gap_p95_s": 0.009931802749633789,
|
| 125 |
+
"gap_max_s": 0.02220916748046875,
|
| 126 |
+
"seams": null
|
| 127 |
+
}
|
| 128 |
+
}
|
.recording_staging/_committed/episode-000011-e2ef201d/manifest.json
ADDED
|
@@ -0,0 +1,238 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 12,
|
| 5 |
+
"created_at": 1786064214.6092353,
|
| 6 |
+
"episode_index": 12,
|
| 7 |
+
"episode_len": 417,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 11,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063391.4512358,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 701,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 17,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
17615,
|
| 60 |
+
17654
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
17666,
|
| 64 |
+
17789
|
| 65 |
+
],
|
| 66 |
+
[
|
| 67 |
+
17805,
|
| 68 |
+
18060
|
| 69 |
+
]
|
| 70 |
+
],
|
| 71 |
+
"t0_wall_s": 1786062804.284569,
|
| 72 |
+
"take_id": "e246d0fc",
|
| 73 |
+
"window": [
|
| 74 |
+
17593,
|
| 75 |
+
18060
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"source_episode_index": 11,
|
| 79 |
+
"state": "committed",
|
| 80 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 81 |
+
"svo_pulled": true,
|
| 82 |
+
"tactile_enabled": false,
|
| 83 |
+
"take_id": "e2ef201d",
|
| 84 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 85 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 86 |
+
"timesync": {
|
| 87 |
+
"offset_s": -67313034.32310146,
|
| 88 |
+
"rtt_s": 0.001900413,
|
| 89 |
+
"uncertainty_s": 0.000896799
|
| 90 |
+
},
|
| 91 |
+
"timing": {
|
| 92 |
+
"cameras": {
|
| 93 |
+
"observation.images.agent_stereo": {
|
| 94 |
+
"held_camera": 165,
|
| 95 |
+
"held_slots": 165,
|
| 96 |
+
"imu_cached": true,
|
| 97 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 98 |
+
"missing_camera": 0,
|
| 99 |
+
"missing_fraction": 0.0,
|
| 100 |
+
"pre_roll_ns": 16666667,
|
| 101 |
+
"residual_median_s": 0.008671648,
|
| 102 |
+
"residual_p95_s": 0.0586373952,
|
| 103 |
+
"samples_after_trim": 16075,
|
| 104 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 105 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 106 |
+
"total_slots": 417,
|
| 107 |
+
"trimmed_before_t0": 11311
|
| 108 |
+
},
|
| 109 |
+
"observation.images.front_stereo": {
|
| 110 |
+
"held_camera": 164,
|
| 111 |
+
"held_slots": 164,
|
| 112 |
+
"imu_cached": true,
|
| 113 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 114 |
+
"missing_camera": 0,
|
| 115 |
+
"missing_fraction": 0.0,
|
| 116 |
+
"pre_roll_ns": 16666667,
|
| 117 |
+
"residual_median_s": 0.014893144,
|
| 118 |
+
"residual_p95_s": 0.064855392,
|
| 119 |
+
"samples_after_trim": 16070,
|
| 120 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 121 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 122 |
+
"total_slots": 417,
|
| 123 |
+
"trimmed_before_t0": 11307
|
| 124 |
+
},
|
| 125 |
+
"observation.images.left_stereo": {
|
| 126 |
+
"held_camera": 166,
|
| 127 |
+
"held_slots": 166,
|
| 128 |
+
"imu_cached": true,
|
| 129 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 130 |
+
"missing_camera": 0,
|
| 131 |
+
"missing_fraction": 0.0,
|
| 132 |
+
"pre_roll_ns": 16666667,
|
| 133 |
+
"residual_median_s": 0.014921392,
|
| 134 |
+
"residual_p95_s": 0.06493729599999999,
|
| 135 |
+
"samples_after_trim": 16071,
|
| 136 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 137 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 138 |
+
"total_slots": 417,
|
| 139 |
+
"trimmed_before_t0": 11309
|
| 140 |
+
},
|
| 141 |
+
"observation.images.wrist_stereo": {
|
| 142 |
+
"held_camera": 167,
|
| 143 |
+
"held_slots": 167,
|
| 144 |
+
"imu_cached": true,
|
| 145 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 146 |
+
"missing_camera": 0,
|
| 147 |
+
"missing_fraction": 0.0,
|
| 148 |
+
"pre_roll_ns": 16666667,
|
| 149 |
+
"residual_median_s": 0.008671896,
|
| 150 |
+
"residual_p95_s": 0.058662496,
|
| 151 |
+
"samples_after_trim": 16073,
|
| 152 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 153 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 154 |
+
"total_slots": 417,
|
| 155 |
+
"trimmed_before_t0": 11307
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"fps": 30.0,
|
| 159 |
+
"frame_times_s": {
|
| 160 |
+
"count": 417,
|
| 161 |
+
"first": 1786063391.4512358,
|
| 162 |
+
"last": 1786063406.2512357,
|
| 163 |
+
"spliced": true
|
| 164 |
+
},
|
| 165 |
+
"imu_dir": "imu",
|
| 166 |
+
"jetson_folder": "take_e246d0fc",
|
| 167 |
+
"n_frames": 417,
|
| 168 |
+
"record_ack_wall_s": 1786063391.4512358,
|
| 169 |
+
"session": {
|
| 170 |
+
"clip_index": 17,
|
| 171 |
+
"n_clips": 34,
|
| 172 |
+
"segments": [
|
| 173 |
+
[
|
| 174 |
+
17615,
|
| 175 |
+
17654
|
| 176 |
+
],
|
| 177 |
+
[
|
| 178 |
+
17666,
|
| 179 |
+
17789
|
| 180 |
+
],
|
| 181 |
+
[
|
| 182 |
+
17805,
|
| 183 |
+
18060
|
| 184 |
+
]
|
| 185 |
+
],
|
| 186 |
+
"take_id": "e246d0fc",
|
| 187 |
+
"window": [
|
| 188 |
+
17593,
|
| 189 |
+
18060
|
| 190 |
+
]
|
| 191 |
+
},
|
| 192 |
+
"spliced": true,
|
| 193 |
+
"t0_image_ns": 1718750357128134144,
|
| 194 |
+
"timesync": {
|
| 195 |
+
"offset_s": -67313034.32310146,
|
| 196 |
+
"rtt_s": 0.001900413,
|
| 197 |
+
"uncertainty_s": 0.000896799
|
| 198 |
+
}
|
| 199 |
+
},
|
| 200 |
+
"trajectory_alignment": {
|
| 201 |
+
"clamped_frames": 0,
|
| 202 |
+
"fps": 30.0,
|
| 203 |
+
"frames": 417,
|
| 204 |
+
"gap_max_s": 0.013944625854492188,
|
| 205 |
+
"gap_median_s": 0.006100654602050781,
|
| 206 |
+
"gap_p95_s": 0.007460260391235351,
|
| 207 |
+
"query_span_s": [
|
| 208 |
+
1786063391.4512358,
|
| 209 |
+
1786063406.2512357
|
| 210 |
+
],
|
| 211 |
+
"seams": null,
|
| 212 |
+
"sidecar_samples": 701,
|
| 213 |
+
"sidecar_span_s": [
|
| 214 |
+
1786063391.436717,
|
| 215 |
+
1786063406.297055
|
| 216 |
+
],
|
| 217 |
+
"spliced": true
|
| 218 |
+
},
|
| 219 |
+
"updated_at": 1786410636.582664,
|
| 220 |
+
"video_files": {
|
| 221 |
+
"observation.images.agent_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.front_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
},
|
| 229 |
+
"observation.images.left_stereo": {
|
| 230 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 231 |
+
"stats": null
|
| 232 |
+
},
|
| 233 |
+
"observation.images.wrist_stereo": {
|
| 234 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 235 |
+
"stats": null
|
| 236 |
+
}
|
| 237 |
+
}
|
| 238 |
+
}
|
.recording_staging/_committed/episode-000011-e2ef201d/timing.json
ADDED
|
@@ -0,0 +1,128 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 167,
|
| 6 |
+
"total_slots": 417,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.008671896,
|
| 9 |
+
"residual_p95_s": 0.058662496,
|
| 10 |
+
"held_slots": 167,
|
| 11 |
+
"trimmed_before_t0": 11307,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 16073,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 165,
|
| 22 |
+
"total_slots": 417,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.008671648,
|
| 25 |
+
"residual_p95_s": 0.0586373952,
|
| 26 |
+
"held_slots": 165,
|
| 27 |
+
"trimmed_before_t0": 11311,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 16075,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 166,
|
| 38 |
+
"total_slots": 417,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.014921392,
|
| 41 |
+
"residual_p95_s": 0.06493729599999999,
|
| 42 |
+
"held_slots": 166,
|
| 43 |
+
"trimmed_before_t0": 11309,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 16071,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 164,
|
| 54 |
+
"total_slots": 417,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.014893144,
|
| 57 |
+
"residual_p95_s": 0.064855392,
|
| 58 |
+
"held_slots": 164,
|
| 59 |
+
"trimmed_before_t0": 11307,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 16070,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 417,
|
| 70 |
+
"t0_image_ns": 1718750357128134144,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063391.4512358,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 17,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
17615,
|
| 87 |
+
17654
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
17666,
|
| 91 |
+
17789
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
+
17805,
|
| 95 |
+
18060
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"window": [
|
| 99 |
+
17593,
|
| 100 |
+
18060
|
| 101 |
+
]
|
| 102 |
+
},
|
| 103 |
+
"frame_times_s": {
|
| 104 |
+
"first": 1786063391.4512358,
|
| 105 |
+
"last": 1786063406.2512357,
|
| 106 |
+
"count": 417,
|
| 107 |
+
"spliced": true
|
| 108 |
+
},
|
| 109 |
+
"trajectory_alignment": {
|
| 110 |
+
"frames": 417,
|
| 111 |
+
"fps": 30.0,
|
| 112 |
+
"spliced": true,
|
| 113 |
+
"sidecar_samples": 701,
|
| 114 |
+
"sidecar_span_s": [
|
| 115 |
+
1786063391.436717,
|
| 116 |
+
1786063406.297055
|
| 117 |
+
],
|
| 118 |
+
"query_span_s": [
|
| 119 |
+
1786063391.4512358,
|
| 120 |
+
1786063406.2512357
|
| 121 |
+
],
|
| 122 |
+
"clamped_frames": 0,
|
| 123 |
+
"gap_median_s": 0.006100654602050781,
|
| 124 |
+
"gap_p95_s": 0.007460260391235351,
|
| 125 |
+
"gap_max_s": 0.013944625854492188,
|
| 126 |
+
"seams": null
|
| 127 |
+
}
|
| 128 |
+
}
|
.recording_staging/_committed/episode-000012-56b70ad8/manifest.json
ADDED
|
@@ -0,0 +1,230 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 13,
|
| 5 |
+
"created_at": 1786064214.6685522,
|
| 6 |
+
"episode_index": 13,
|
| 7 |
+
"episode_len": 544,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 12,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063416.0512357,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 910,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 18,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
18353,
|
| 60 |
+
18586
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
18606,
|
| 64 |
+
18917
|
| 65 |
+
]
|
| 66 |
+
],
|
| 67 |
+
"t0_wall_s": 1786062804.284569,
|
| 68 |
+
"take_id": "e246d0fc",
|
| 69 |
+
"window": [
|
| 70 |
+
18336,
|
| 71 |
+
18917
|
| 72 |
+
]
|
| 73 |
+
},
|
| 74 |
+
"source_episode_index": 12,
|
| 75 |
+
"state": "committed",
|
| 76 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 77 |
+
"svo_pulled": true,
|
| 78 |
+
"tactile_enabled": false,
|
| 79 |
+
"take_id": "56b70ad8",
|
| 80 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 81 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 82 |
+
"timesync": {
|
| 83 |
+
"offset_s": -67313034.32310146,
|
| 84 |
+
"rtt_s": 0.001900413,
|
| 85 |
+
"uncertainty_s": 0.000896799
|
| 86 |
+
},
|
| 87 |
+
"timing": {
|
| 88 |
+
"cameras": {
|
| 89 |
+
"observation.images.agent_stereo": {
|
| 90 |
+
"held_camera": 212,
|
| 91 |
+
"held_slots": 212,
|
| 92 |
+
"imu_cached": true,
|
| 93 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 94 |
+
"missing_camera": 0,
|
| 95 |
+
"missing_fraction": 0.0,
|
| 96 |
+
"pre_roll_ns": 16666667,
|
| 97 |
+
"residual_median_s": 0.008557395999999998,
|
| 98 |
+
"residual_p95_s": 0.04192874,
|
| 99 |
+
"samples_after_trim": 15612,
|
| 100 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 101 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 102 |
+
"total_slots": 544,
|
| 103 |
+
"trimmed_before_t0": 11774
|
| 104 |
+
},
|
| 105 |
+
"observation.images.front_stereo": {
|
| 106 |
+
"held_camera": 211,
|
| 107 |
+
"held_slots": 211,
|
| 108 |
+
"imu_cached": true,
|
| 109 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 110 |
+
"missing_camera": 0,
|
| 111 |
+
"missing_fraction": 0.0,
|
| 112 |
+
"pre_roll_ns": 16666667,
|
| 113 |
+
"residual_median_s": 0.01478252,
|
| 114 |
+
"residual_p95_s": 0.0481393852,
|
| 115 |
+
"samples_after_trim": 15608,
|
| 116 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 117 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 118 |
+
"total_slots": 544,
|
| 119 |
+
"trimmed_before_t0": 11769
|
| 120 |
+
},
|
| 121 |
+
"observation.images.left_stereo": {
|
| 122 |
+
"held_camera": 221,
|
| 123 |
+
"held_slots": 221,
|
| 124 |
+
"imu_cached": true,
|
| 125 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 126 |
+
"missing_camera": 0,
|
| 127 |
+
"missing_fraction": 0.0,
|
| 128 |
+
"pre_roll_ns": 16666667,
|
| 129 |
+
"residual_median_s": 0.014803896,
|
| 130 |
+
"residual_p95_s": 0.0647665812,
|
| 131 |
+
"samples_after_trim": 15610,
|
| 132 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 133 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 134 |
+
"total_slots": 544,
|
| 135 |
+
"trimmed_before_t0": 11770
|
| 136 |
+
},
|
| 137 |
+
"observation.images.wrist_stereo": {
|
| 138 |
+
"held_camera": 209,
|
| 139 |
+
"held_slots": 209,
|
| 140 |
+
"imu_cached": true,
|
| 141 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 142 |
+
"missing_camera": 0,
|
| 143 |
+
"missing_fraction": 0.0,
|
| 144 |
+
"pre_roll_ns": 16666667,
|
| 145 |
+
"residual_median_s": 0.008535772,
|
| 146 |
+
"residual_p95_s": 0.0419070568,
|
| 147 |
+
"samples_after_trim": 15611,
|
| 148 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 149 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 150 |
+
"total_slots": 544,
|
| 151 |
+
"trimmed_before_t0": 11769
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"fps": 30.0,
|
| 155 |
+
"frame_times_s": {
|
| 156 |
+
"count": 544,
|
| 157 |
+
"first": 1786063416.0512357,
|
| 158 |
+
"last": 1786063434.8179023,
|
| 159 |
+
"spliced": true
|
| 160 |
+
},
|
| 161 |
+
"imu_dir": "imu",
|
| 162 |
+
"jetson_folder": "take_e246d0fc",
|
| 163 |
+
"n_frames": 544,
|
| 164 |
+
"record_ack_wall_s": 1786063416.0512357,
|
| 165 |
+
"session": {
|
| 166 |
+
"clip_index": 18,
|
| 167 |
+
"n_clips": 34,
|
| 168 |
+
"segments": [
|
| 169 |
+
[
|
| 170 |
+
18353,
|
| 171 |
+
18586
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
18606,
|
| 175 |
+
18917
|
| 176 |
+
]
|
| 177 |
+
],
|
| 178 |
+
"take_id": "e246d0fc",
|
| 179 |
+
"window": [
|
| 180 |
+
18336,
|
| 181 |
+
18917
|
| 182 |
+
]
|
| 183 |
+
},
|
| 184 |
+
"spliced": true,
|
| 185 |
+
"t0_image_ns": 1718750381728134144,
|
| 186 |
+
"timesync": {
|
| 187 |
+
"offset_s": -67313034.32310146,
|
| 188 |
+
"rtt_s": 0.001900413,
|
| 189 |
+
"uncertainty_s": 0.000896799
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"trajectory_alignment": {
|
| 193 |
+
"clamped_frames": 0,
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"frames": 544,
|
| 196 |
+
"gap_max_s": 0.01134490966796875,
|
| 197 |
+
"gap_median_s": 0.005978107452392578,
|
| 198 |
+
"gap_p95_s": 0.0076043963432312015,
|
| 199 |
+
"query_span_s": [
|
| 200 |
+
1786063416.0512357,
|
| 201 |
+
1786063434.8179023
|
| 202 |
+
],
|
| 203 |
+
"seams": null,
|
| 204 |
+
"sidecar_samples": 910,
|
| 205 |
+
"sidecar_span_s": [
|
| 206 |
+
1786063416.043775,
|
| 207 |
+
1786063434.8645616
|
| 208 |
+
],
|
| 209 |
+
"spliced": true
|
| 210 |
+
},
|
| 211 |
+
"updated_at": 1786410686.0773995,
|
| 212 |
+
"video_files": {
|
| 213 |
+
"observation.images.agent_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.front_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
},
|
| 221 |
+
"observation.images.left_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.wrist_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
}
|
| 229 |
+
}
|
| 230 |
+
}
|
.recording_staging/_committed/episode-000012-56b70ad8/timing.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 209,
|
| 6 |
+
"total_slots": 544,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.008535772,
|
| 9 |
+
"residual_p95_s": 0.0419070568,
|
| 10 |
+
"held_slots": 209,
|
| 11 |
+
"trimmed_before_t0": 11769,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 15611,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 212,
|
| 22 |
+
"total_slots": 544,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.008557395999999998,
|
| 25 |
+
"residual_p95_s": 0.04192874,
|
| 26 |
+
"held_slots": 212,
|
| 27 |
+
"trimmed_before_t0": 11774,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 15612,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 221,
|
| 38 |
+
"total_slots": 544,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.014803896,
|
| 41 |
+
"residual_p95_s": 0.0647665812,
|
| 42 |
+
"held_slots": 221,
|
| 43 |
+
"trimmed_before_t0": 11770,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 15610,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 211,
|
| 54 |
+
"total_slots": 544,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.01478252,
|
| 57 |
+
"residual_p95_s": 0.0481393852,
|
| 58 |
+
"held_slots": 211,
|
| 59 |
+
"trimmed_before_t0": 11769,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 15608,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 544,
|
| 70 |
+
"t0_image_ns": 1718750381728134144,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063416.0512357,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 18,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
18353,
|
| 87 |
+
18586
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
18606,
|
| 91 |
+
18917
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
"window": [
|
| 95 |
+
18336,
|
| 96 |
+
18917
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"frame_times_s": {
|
| 100 |
+
"first": 1786063416.0512357,
|
| 101 |
+
"last": 1786063434.8179023,
|
| 102 |
+
"count": 544,
|
| 103 |
+
"spliced": true
|
| 104 |
+
},
|
| 105 |
+
"trajectory_alignment": {
|
| 106 |
+
"frames": 544,
|
| 107 |
+
"fps": 30.0,
|
| 108 |
+
"spliced": true,
|
| 109 |
+
"sidecar_samples": 910,
|
| 110 |
+
"sidecar_span_s": [
|
| 111 |
+
1786063416.043775,
|
| 112 |
+
1786063434.8645616
|
| 113 |
+
],
|
| 114 |
+
"query_span_s": [
|
| 115 |
+
1786063416.0512357,
|
| 116 |
+
1786063434.8179023
|
| 117 |
+
],
|
| 118 |
+
"clamped_frames": 0,
|
| 119 |
+
"gap_median_s": 0.005978107452392578,
|
| 120 |
+
"gap_p95_s": 0.0076043963432312015,
|
| 121 |
+
"gap_max_s": 0.01134490966796875,
|
| 122 |
+
"seams": null
|
| 123 |
+
}
|
| 124 |
+
}
|
.recording_staging/_committed/episode-000013-21632ccc/manifest.json
ADDED
|
@@ -0,0 +1,238 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 14,
|
| 5 |
+
"created_at": 1786064214.7427518,
|
| 6 |
+
"episode_index": 14,
|
| 7 |
+
"episode_len": 431,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 13,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063443.6845691,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 725,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 19,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
19182,
|
| 60 |
+
19332
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
19345,
|
| 64 |
+
19505
|
| 65 |
+
],
|
| 66 |
+
[
|
| 67 |
+
19520,
|
| 68 |
+
19641
|
| 69 |
+
]
|
| 70 |
+
],
|
| 71 |
+
"t0_wall_s": 1786062804.284569,
|
| 72 |
+
"take_id": "e246d0fc",
|
| 73 |
+
"window": [
|
| 74 |
+
19155,
|
| 75 |
+
19641
|
| 76 |
+
]
|
| 77 |
+
},
|
| 78 |
+
"source_episode_index": 13,
|
| 79 |
+
"state": "committed",
|
| 80 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 81 |
+
"svo_pulled": true,
|
| 82 |
+
"tactile_enabled": false,
|
| 83 |
+
"take_id": "21632ccc",
|
| 84 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 85 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 86 |
+
"timesync": {
|
| 87 |
+
"offset_s": -67313034.32310146,
|
| 88 |
+
"rtt_s": 0.001900413,
|
| 89 |
+
"uncertainty_s": 0.000896799
|
| 90 |
+
},
|
| 91 |
+
"timing": {
|
| 92 |
+
"cameras": {
|
| 93 |
+
"observation.images.agent_stereo": {
|
| 94 |
+
"held_camera": 176,
|
| 95 |
+
"held_slots": 176,
|
| 96 |
+
"imu_cached": true,
|
| 97 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 98 |
+
"missing_camera": 0,
|
| 99 |
+
"missing_fraction": 0.0,
|
| 100 |
+
"pre_roll_ns": 16666667,
|
| 101 |
+
"residual_median_s": 0.008446896,
|
| 102 |
+
"residual_p95_s": 0.058411019999999994,
|
| 103 |
+
"samples_after_trim": 15087,
|
| 104 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 105 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 106 |
+
"total_slots": 431,
|
| 107 |
+
"trimmed_before_t0": 12299
|
| 108 |
+
},
|
| 109 |
+
"observation.images.front_stereo": {
|
| 110 |
+
"held_camera": 177,
|
| 111 |
+
"held_slots": 177,
|
| 112 |
+
"imu_cached": true,
|
| 113 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 114 |
+
"missing_camera": 0,
|
| 115 |
+
"missing_fraction": 0.0,
|
| 116 |
+
"pre_roll_ns": 16666667,
|
| 117 |
+
"residual_median_s": 0.014663648,
|
| 118 |
+
"residual_p95_s": 0.06466902,
|
| 119 |
+
"samples_after_trim": 15082,
|
| 120 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 121 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 122 |
+
"total_slots": 431,
|
| 123 |
+
"trimmed_before_t0": 12295
|
| 124 |
+
},
|
| 125 |
+
"observation.images.left_stereo": {
|
| 126 |
+
"held_camera": 175,
|
| 127 |
+
"held_slots": 175,
|
| 128 |
+
"imu_cached": true,
|
| 129 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 130 |
+
"missing_camera": 0,
|
| 131 |
+
"missing_fraction": 0.0,
|
| 132 |
+
"pre_roll_ns": 16666667,
|
| 133 |
+
"residual_median_s": 0.014681896,
|
| 134 |
+
"residual_p95_s": 0.081375896,
|
| 135 |
+
"samples_after_trim": 15084,
|
| 136 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 137 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 138 |
+
"total_slots": 431,
|
| 139 |
+
"trimmed_before_t0": 12296
|
| 140 |
+
},
|
| 141 |
+
"observation.images.wrist_stereo": {
|
| 142 |
+
"held_camera": 170,
|
| 143 |
+
"held_slots": 170,
|
| 144 |
+
"imu_cached": true,
|
| 145 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 146 |
+
"missing_camera": 0,
|
| 147 |
+
"missing_fraction": 0.0,
|
| 148 |
+
"pre_roll_ns": 16666667,
|
| 149 |
+
"residual_median_s": 0.008421648,
|
| 150 |
+
"residual_p95_s": 0.058422896,
|
| 151 |
+
"samples_after_trim": 15086,
|
| 152 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 153 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 154 |
+
"total_slots": 431,
|
| 155 |
+
"trimmed_before_t0": 12294
|
| 156 |
+
}
|
| 157 |
+
},
|
| 158 |
+
"fps": 30.0,
|
| 159 |
+
"frame_times_s": {
|
| 160 |
+
"count": 431,
|
| 161 |
+
"first": 1786063443.6845691,
|
| 162 |
+
"last": 1786063458.9512358,
|
| 163 |
+
"spliced": true
|
| 164 |
+
},
|
| 165 |
+
"imu_dir": "imu",
|
| 166 |
+
"jetson_folder": "take_e246d0fc",
|
| 167 |
+
"n_frames": 431,
|
| 168 |
+
"record_ack_wall_s": 1786063443.6845691,
|
| 169 |
+
"session": {
|
| 170 |
+
"clip_index": 19,
|
| 171 |
+
"n_clips": 34,
|
| 172 |
+
"segments": [
|
| 173 |
+
[
|
| 174 |
+
19182,
|
| 175 |
+
19332
|
| 176 |
+
],
|
| 177 |
+
[
|
| 178 |
+
19345,
|
| 179 |
+
19505
|
| 180 |
+
],
|
| 181 |
+
[
|
| 182 |
+
19520,
|
| 183 |
+
19641
|
| 184 |
+
]
|
| 185 |
+
],
|
| 186 |
+
"take_id": "e246d0fc",
|
| 187 |
+
"window": [
|
| 188 |
+
19155,
|
| 189 |
+
19641
|
| 190 |
+
]
|
| 191 |
+
},
|
| 192 |
+
"spliced": true,
|
| 193 |
+
"t0_image_ns": 1718750409361467648,
|
| 194 |
+
"timesync": {
|
| 195 |
+
"offset_s": -67313034.32310146,
|
| 196 |
+
"rtt_s": 0.001900413,
|
| 197 |
+
"uncertainty_s": 0.000896799
|
| 198 |
+
}
|
| 199 |
+
},
|
| 200 |
+
"trajectory_alignment": {
|
| 201 |
+
"clamped_frames": 0,
|
| 202 |
+
"fps": 30.0,
|
| 203 |
+
"frames": 431,
|
| 204 |
+
"gap_max_s": 0.013164281845092773,
|
| 205 |
+
"gap_median_s": 0.005990266799926758,
|
| 206 |
+
"gap_p95_s": 0.007613778114318848,
|
| 207 |
+
"query_span_s": [
|
| 208 |
+
1786063443.6845691,
|
| 209 |
+
1786063458.9512358
|
| 210 |
+
],
|
| 211 |
+
"seams": null,
|
| 212 |
+
"sidecar_samples": 725,
|
| 213 |
+
"sidecar_span_s": [
|
| 214 |
+
1786063443.6839428,
|
| 215 |
+
1786063459.0037022
|
| 216 |
+
],
|
| 217 |
+
"spliced": true
|
| 218 |
+
},
|
| 219 |
+
"updated_at": 1786410728.4942572,
|
| 220 |
+
"video_files": {
|
| 221 |
+
"observation.images.agent_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.front_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
},
|
| 229 |
+
"observation.images.left_stereo": {
|
| 230 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 231 |
+
"stats": null
|
| 232 |
+
},
|
| 233 |
+
"observation.images.wrist_stereo": {
|
| 234 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 235 |
+
"stats": null
|
| 236 |
+
}
|
| 237 |
+
}
|
| 238 |
+
}
|
.recording_staging/_committed/episode-000013-21632ccc/timing.json
ADDED
|
@@ -0,0 +1,128 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 170,
|
| 6 |
+
"total_slots": 431,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.008421648,
|
| 9 |
+
"residual_p95_s": 0.058422896,
|
| 10 |
+
"held_slots": 170,
|
| 11 |
+
"trimmed_before_t0": 12294,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 15086,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 176,
|
| 22 |
+
"total_slots": 431,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.008446896,
|
| 25 |
+
"residual_p95_s": 0.058411019999999994,
|
| 26 |
+
"held_slots": 176,
|
| 27 |
+
"trimmed_before_t0": 12299,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 15087,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 175,
|
| 38 |
+
"total_slots": 431,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.014681896,
|
| 41 |
+
"residual_p95_s": 0.081375896,
|
| 42 |
+
"held_slots": 175,
|
| 43 |
+
"trimmed_before_t0": 12296,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 15084,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 177,
|
| 54 |
+
"total_slots": 431,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.014663648,
|
| 57 |
+
"residual_p95_s": 0.06466902,
|
| 58 |
+
"held_slots": 177,
|
| 59 |
+
"trimmed_before_t0": 12295,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 15082,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 431,
|
| 70 |
+
"t0_image_ns": 1718750409361467648,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063443.6845691,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 19,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
19182,
|
| 87 |
+
19332
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
19345,
|
| 91 |
+
19505
|
| 92 |
+
],
|
| 93 |
+
[
|
| 94 |
+
19520,
|
| 95 |
+
19641
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
"window": [
|
| 99 |
+
19155,
|
| 100 |
+
19641
|
| 101 |
+
]
|
| 102 |
+
},
|
| 103 |
+
"frame_times_s": {
|
| 104 |
+
"first": 1786063443.6845691,
|
| 105 |
+
"last": 1786063458.9512358,
|
| 106 |
+
"count": 431,
|
| 107 |
+
"spliced": true
|
| 108 |
+
},
|
| 109 |
+
"trajectory_alignment": {
|
| 110 |
+
"frames": 431,
|
| 111 |
+
"fps": 30.0,
|
| 112 |
+
"spliced": true,
|
| 113 |
+
"sidecar_samples": 725,
|
| 114 |
+
"sidecar_span_s": [
|
| 115 |
+
1786063443.6839428,
|
| 116 |
+
1786063459.0037022
|
| 117 |
+
],
|
| 118 |
+
"query_span_s": [
|
| 119 |
+
1786063443.6845691,
|
| 120 |
+
1786063458.9512358
|
| 121 |
+
],
|
| 122 |
+
"clamped_frames": 0,
|
| 123 |
+
"gap_median_s": 0.005990266799926758,
|
| 124 |
+
"gap_p95_s": 0.007613778114318848,
|
| 125 |
+
"gap_max_s": 0.013164281845092773,
|
| 126 |
+
"seams": null
|
| 127 |
+
}
|
| 128 |
+
}
|
.recording_staging/_committed/episode-000014-ee4a432d/manifest.json
ADDED
|
@@ -0,0 +1,230 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 15,
|
| 5 |
+
"created_at": 1786064214.8320982,
|
| 6 |
+
"episode_index": 15,
|
| 7 |
+
"episode_len": 387,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 14,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063473.7512357,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 649,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 21,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
20084,
|
| 60 |
+
20289
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
20317,
|
| 64 |
+
20499
|
| 65 |
+
]
|
| 66 |
+
],
|
| 67 |
+
"t0_wall_s": 1786062804.284569,
|
| 68 |
+
"take_id": "e246d0fc",
|
| 69 |
+
"window": [
|
| 70 |
+
20073,
|
| 71 |
+
20499
|
| 72 |
+
]
|
| 73 |
+
},
|
| 74 |
+
"source_episode_index": 14,
|
| 75 |
+
"state": "committed",
|
| 76 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 77 |
+
"svo_pulled": true,
|
| 78 |
+
"tactile_enabled": false,
|
| 79 |
+
"take_id": "ee4a432d",
|
| 80 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 81 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 82 |
+
"timesync": {
|
| 83 |
+
"offset_s": -67313034.32310146,
|
| 84 |
+
"rtt_s": 0.001900413,
|
| 85 |
+
"uncertainty_s": 0.000896799
|
| 86 |
+
},
|
| 87 |
+
"timing": {
|
| 88 |
+
"cameras": {
|
| 89 |
+
"observation.images.agent_stereo": {
|
| 90 |
+
"held_camera": 147,
|
| 91 |
+
"held_slots": 147,
|
| 92 |
+
"imu_cached": true,
|
| 93 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 94 |
+
"missing_camera": 0,
|
| 95 |
+
"missing_fraction": 0.0,
|
| 96 |
+
"pre_roll_ns": 16666667,
|
| 97 |
+
"residual_median_s": 0.008392104,
|
| 98 |
+
"residual_p95_s": 0.041639596,
|
| 99 |
+
"samples_after_trim": 14518,
|
| 100 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 101 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 102 |
+
"total_slots": 387,
|
| 103 |
+
"trimmed_before_t0": 12868
|
| 104 |
+
},
|
| 105 |
+
"observation.images.front_stereo": {
|
| 106 |
+
"held_camera": 151,
|
| 107 |
+
"held_slots": 151,
|
| 108 |
+
"imu_cached": true,
|
| 109 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 110 |
+
"missing_camera": 0,
|
| 111 |
+
"missing_fraction": 0.0,
|
| 112 |
+
"pre_roll_ns": 16666667,
|
| 113 |
+
"residual_median_s": 0.014519144,
|
| 114 |
+
"residual_p95_s": 0.047873469599999996,
|
| 115 |
+
"samples_after_trim": 14512,
|
| 116 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 117 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 118 |
+
"total_slots": 387,
|
| 119 |
+
"trimmed_before_t0": 12865
|
| 120 |
+
},
|
| 121 |
+
"observation.images.left_stereo": {
|
| 122 |
+
"held_camera": 149,
|
| 123 |
+
"held_slots": 149,
|
| 124 |
+
"imu_cached": true,
|
| 125 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 126 |
+
"missing_camera": 0,
|
| 127 |
+
"missing_fraction": 0.0,
|
| 128 |
+
"pre_roll_ns": 16666667,
|
| 129 |
+
"residual_median_s": 0.014540896,
|
| 130 |
+
"residual_p95_s": 0.0479040696,
|
| 131 |
+
"samples_after_trim": 14515,
|
| 132 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 133 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 134 |
+
"total_slots": 387,
|
| 135 |
+
"trimmed_before_t0": 12865
|
| 136 |
+
},
|
| 137 |
+
"observation.images.wrist_stereo": {
|
| 138 |
+
"held_camera": 147,
|
| 139 |
+
"held_slots": 147,
|
| 140 |
+
"imu_cached": true,
|
| 141 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 142 |
+
"missing_camera": 0,
|
| 143 |
+
"missing_fraction": 0.0,
|
| 144 |
+
"pre_roll_ns": 16666667,
|
| 145 |
+
"residual_median_s": 0.008413856,
|
| 146 |
+
"residual_p95_s": 0.0416376656,
|
| 147 |
+
"samples_after_trim": 14516,
|
| 148 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 149 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 150 |
+
"total_slots": 387,
|
| 151 |
+
"trimmed_before_t0": 12864
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"fps": 30.0,
|
| 155 |
+
"frame_times_s": {
|
| 156 |
+
"count": 387,
|
| 157 |
+
"first": 1786063473.7512357,
|
| 158 |
+
"last": 1786063487.5512357,
|
| 159 |
+
"spliced": true
|
| 160 |
+
},
|
| 161 |
+
"imu_dir": "imu",
|
| 162 |
+
"jetson_folder": "take_e246d0fc",
|
| 163 |
+
"n_frames": 387,
|
| 164 |
+
"record_ack_wall_s": 1786063473.7512357,
|
| 165 |
+
"session": {
|
| 166 |
+
"clip_index": 21,
|
| 167 |
+
"n_clips": 34,
|
| 168 |
+
"segments": [
|
| 169 |
+
[
|
| 170 |
+
20084,
|
| 171 |
+
20289
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
20317,
|
| 175 |
+
20499
|
| 176 |
+
]
|
| 177 |
+
],
|
| 178 |
+
"take_id": "e246d0fc",
|
| 179 |
+
"window": [
|
| 180 |
+
20073,
|
| 181 |
+
20499
|
| 182 |
+
]
|
| 183 |
+
},
|
| 184 |
+
"spliced": true,
|
| 185 |
+
"t0_image_ns": 1718750439428134144,
|
| 186 |
+
"timesync": {
|
| 187 |
+
"offset_s": -67313034.32310146,
|
| 188 |
+
"rtt_s": 0.001900413,
|
| 189 |
+
"uncertainty_s": 0.000896799
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"trajectory_alignment": {
|
| 193 |
+
"clamped_frames": 0,
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"frames": 387,
|
| 196 |
+
"gap_max_s": 0.011387348175048828,
|
| 197 |
+
"gap_median_s": 0.005963325500488281,
|
| 198 |
+
"gap_p95_s": 0.007572817802429199,
|
| 199 |
+
"query_span_s": [
|
| 200 |
+
1786063473.7512357,
|
| 201 |
+
1786063487.5512357
|
| 202 |
+
],
|
| 203 |
+
"seams": null,
|
| 204 |
+
"sidecar_samples": 649,
|
| 205 |
+
"sidecar_span_s": [
|
| 206 |
+
1786063473.7439952,
|
| 207 |
+
1786063487.5851235
|
| 208 |
+
],
|
| 209 |
+
"spliced": true
|
| 210 |
+
},
|
| 211 |
+
"updated_at": 1786410790.9976125,
|
| 212 |
+
"video_files": {
|
| 213 |
+
"observation.images.agent_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.front_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
},
|
| 221 |
+
"observation.images.left_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.wrist_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
}
|
| 229 |
+
}
|
| 230 |
+
}
|
.recording_staging/_committed/episode-000014-ee4a432d/timing.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 147,
|
| 6 |
+
"total_slots": 387,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.008413856,
|
| 9 |
+
"residual_p95_s": 0.0416376656,
|
| 10 |
+
"held_slots": 147,
|
| 11 |
+
"trimmed_before_t0": 12864,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 14516,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 147,
|
| 22 |
+
"total_slots": 387,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.008392104,
|
| 25 |
+
"residual_p95_s": 0.041639596,
|
| 26 |
+
"held_slots": 147,
|
| 27 |
+
"trimmed_before_t0": 12868,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 14518,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 149,
|
| 38 |
+
"total_slots": 387,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.014540896,
|
| 41 |
+
"residual_p95_s": 0.0479040696,
|
| 42 |
+
"held_slots": 149,
|
| 43 |
+
"trimmed_before_t0": 12865,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 14515,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 151,
|
| 54 |
+
"total_slots": 387,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.014519144,
|
| 57 |
+
"residual_p95_s": 0.047873469599999996,
|
| 58 |
+
"held_slots": 151,
|
| 59 |
+
"trimmed_before_t0": 12865,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 14512,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 387,
|
| 70 |
+
"t0_image_ns": 1718750439428134144,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063473.7512357,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 21,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
20084,
|
| 87 |
+
20289
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
20317,
|
| 91 |
+
20499
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
"window": [
|
| 95 |
+
20073,
|
| 96 |
+
20499
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"frame_times_s": {
|
| 100 |
+
"first": 1786063473.7512357,
|
| 101 |
+
"last": 1786063487.5512357,
|
| 102 |
+
"count": 387,
|
| 103 |
+
"spliced": true
|
| 104 |
+
},
|
| 105 |
+
"trajectory_alignment": {
|
| 106 |
+
"frames": 387,
|
| 107 |
+
"fps": 30.0,
|
| 108 |
+
"spliced": true,
|
| 109 |
+
"sidecar_samples": 649,
|
| 110 |
+
"sidecar_span_s": [
|
| 111 |
+
1786063473.7439952,
|
| 112 |
+
1786063487.5851235
|
| 113 |
+
],
|
| 114 |
+
"query_span_s": [
|
| 115 |
+
1786063473.7512357,
|
| 116 |
+
1786063487.5512357
|
| 117 |
+
],
|
| 118 |
+
"clamped_frames": 0,
|
| 119 |
+
"gap_median_s": 0.005963325500488281,
|
| 120 |
+
"gap_p95_s": 0.007572817802429199,
|
| 121 |
+
"gap_max_s": 0.011387348175048828,
|
| 122 |
+
"seams": null
|
| 123 |
+
}
|
| 124 |
+
}
|
.recording_staging/_committed/episode-000015-bd8ec32e/manifest.json
ADDED
|
@@ -0,0 +1,230 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 16,
|
| 5 |
+
"created_at": 1786064214.888622,
|
| 6 |
+
"episode_index": 16,
|
| 7 |
+
"episode_len": 469,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 15,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063517.1845691,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 786,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 22,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
21387,
|
| 60 |
+
21621
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
21642,
|
| 64 |
+
21877
|
| 65 |
+
]
|
| 66 |
+
],
|
| 67 |
+
"t0_wall_s": 1786062804.284569,
|
| 68 |
+
"take_id": "e246d0fc",
|
| 69 |
+
"window": [
|
| 70 |
+
21350,
|
| 71 |
+
21877
|
| 72 |
+
]
|
| 73 |
+
},
|
| 74 |
+
"source_episode_index": 15,
|
| 75 |
+
"state": "committed",
|
| 76 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 77 |
+
"svo_pulled": true,
|
| 78 |
+
"tactile_enabled": false,
|
| 79 |
+
"take_id": "bd8ec32e",
|
| 80 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 81 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 82 |
+
"timesync": {
|
| 83 |
+
"offset_s": -67313034.32310146,
|
| 84 |
+
"rtt_s": 0.001900413,
|
| 85 |
+
"uncertainty_s": 0.000896799
|
| 86 |
+
},
|
| 87 |
+
"timing": {
|
| 88 |
+
"cameras": {
|
| 89 |
+
"observation.images.agent_stereo": {
|
| 90 |
+
"held_camera": 180,
|
| 91 |
+
"held_slots": 180,
|
| 92 |
+
"imu_cached": true,
|
| 93 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 94 |
+
"missing_camera": 0,
|
| 95 |
+
"missing_fraction": 0.0,
|
| 96 |
+
"pre_roll_ns": 16666667,
|
| 97 |
+
"residual_median_s": 0.008609608,
|
| 98 |
+
"residual_p95_s": 0.0414408928,
|
| 99 |
+
"samples_after_trim": 13664,
|
| 100 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 101 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 102 |
+
"total_slots": 469,
|
| 103 |
+
"trimmed_before_t0": 13722
|
| 104 |
+
},
|
| 105 |
+
"observation.images.front_stereo": {
|
| 106 |
+
"held_camera": 186,
|
| 107 |
+
"held_slots": 186,
|
| 108 |
+
"imu_cached": true,
|
| 109 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 110 |
+
"missing_camera": 0,
|
| 111 |
+
"missing_fraction": 0.0,
|
| 112 |
+
"pre_roll_ns": 16666667,
|
| 113 |
+
"residual_median_s": 0.014312144,
|
| 114 |
+
"residual_p95_s": 0.0642752464,
|
| 115 |
+
"samples_after_trim": 13658,
|
| 116 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 117 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 118 |
+
"total_slots": 469,
|
| 119 |
+
"trimmed_before_t0": 13719
|
| 120 |
+
},
|
| 121 |
+
"observation.images.left_stereo": {
|
| 122 |
+
"held_camera": 185,
|
| 123 |
+
"held_slots": 185,
|
| 124 |
+
"imu_cached": true,
|
| 125 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 126 |
+
"missing_camera": 0,
|
| 127 |
+
"missing_fraction": 0.0,
|
| 128 |
+
"pre_roll_ns": 16666667,
|
| 129 |
+
"residual_median_s": 0.014343144,
|
| 130 |
+
"residual_p95_s": 0.0643669456,
|
| 131 |
+
"samples_after_trim": 13660,
|
| 132 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 133 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 134 |
+
"total_slots": 469,
|
| 135 |
+
"trimmed_before_t0": 13720
|
| 136 |
+
},
|
| 137 |
+
"observation.images.wrist_stereo": {
|
| 138 |
+
"held_camera": 184,
|
| 139 |
+
"held_slots": 184,
|
| 140 |
+
"imu_cached": true,
|
| 141 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 142 |
+
"missing_camera": 0,
|
| 143 |
+
"missing_fraction": 0.0,
|
| 144 |
+
"pre_roll_ns": 16666667,
|
| 145 |
+
"residual_median_s": 0.008625104,
|
| 146 |
+
"residual_p95_s": 0.0580790432,
|
| 147 |
+
"samples_after_trim": 13663,
|
| 148 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 149 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 150 |
+
"total_slots": 469,
|
| 151 |
+
"trimmed_before_t0": 13717
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"fps": 30.0,
|
| 155 |
+
"frame_times_s": {
|
| 156 |
+
"count": 469,
|
| 157 |
+
"first": 1786063517.1845691,
|
| 158 |
+
"last": 1786063533.484569,
|
| 159 |
+
"spliced": true
|
| 160 |
+
},
|
| 161 |
+
"imu_dir": "imu",
|
| 162 |
+
"jetson_folder": "take_e246d0fc",
|
| 163 |
+
"n_frames": 469,
|
| 164 |
+
"record_ack_wall_s": 1786063517.1845691,
|
| 165 |
+
"session": {
|
| 166 |
+
"clip_index": 22,
|
| 167 |
+
"n_clips": 34,
|
| 168 |
+
"segments": [
|
| 169 |
+
[
|
| 170 |
+
21387,
|
| 171 |
+
21621
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
21642,
|
| 175 |
+
21877
|
| 176 |
+
]
|
| 177 |
+
],
|
| 178 |
+
"take_id": "e246d0fc",
|
| 179 |
+
"window": [
|
| 180 |
+
21350,
|
| 181 |
+
21877
|
| 182 |
+
]
|
| 183 |
+
},
|
| 184 |
+
"spliced": true,
|
| 185 |
+
"t0_image_ns": 1718750482861467648,
|
| 186 |
+
"timesync": {
|
| 187 |
+
"offset_s": -67313034.32310146,
|
| 188 |
+
"rtt_s": 0.001900413,
|
| 189 |
+
"uncertainty_s": 0.000896799
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"trajectory_alignment": {
|
| 193 |
+
"clamped_frames": 0,
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"frames": 469,
|
| 196 |
+
"gap_max_s": 0.012086629867553711,
|
| 197 |
+
"gap_median_s": 0.0053043365478515625,
|
| 198 |
+
"gap_p95_s": 0.008702611923217772,
|
| 199 |
+
"query_span_s": [
|
| 200 |
+
1786063517.1845691,
|
| 201 |
+
1786063533.484569
|
| 202 |
+
],
|
| 203 |
+
"seams": null,
|
| 204 |
+
"sidecar_samples": 786,
|
| 205 |
+
"sidecar_span_s": [
|
| 206 |
+
1786063517.167849,
|
| 207 |
+
1786063533.5258849
|
| 208 |
+
],
|
| 209 |
+
"spliced": true
|
| 210 |
+
},
|
| 211 |
+
"updated_at": 1786410835.5133688,
|
| 212 |
+
"video_files": {
|
| 213 |
+
"observation.images.agent_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.front_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
},
|
| 221 |
+
"observation.images.left_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.wrist_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
}
|
| 229 |
+
}
|
| 230 |
+
}
|
.recording_staging/_committed/episode-000015-bd8ec32e/timing.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 184,
|
| 6 |
+
"total_slots": 469,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.008625104,
|
| 9 |
+
"residual_p95_s": 0.0580790432,
|
| 10 |
+
"held_slots": 184,
|
| 11 |
+
"trimmed_before_t0": 13717,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 13663,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 180,
|
| 22 |
+
"total_slots": 469,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.008609608,
|
| 25 |
+
"residual_p95_s": 0.0414408928,
|
| 26 |
+
"held_slots": 180,
|
| 27 |
+
"trimmed_before_t0": 13722,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 13664,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 185,
|
| 38 |
+
"total_slots": 469,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.014343144,
|
| 41 |
+
"residual_p95_s": 0.0643669456,
|
| 42 |
+
"held_slots": 185,
|
| 43 |
+
"trimmed_before_t0": 13720,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 13660,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 186,
|
| 54 |
+
"total_slots": 469,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.014312144,
|
| 57 |
+
"residual_p95_s": 0.0642752464,
|
| 58 |
+
"held_slots": 186,
|
| 59 |
+
"trimmed_before_t0": 13719,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 13658,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 469,
|
| 70 |
+
"t0_image_ns": 1718750482861467648,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063517.1845691,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 22,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
21387,
|
| 87 |
+
21621
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
21642,
|
| 91 |
+
21877
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
"window": [
|
| 95 |
+
21350,
|
| 96 |
+
21877
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"frame_times_s": {
|
| 100 |
+
"first": 1786063517.1845691,
|
| 101 |
+
"last": 1786063533.484569,
|
| 102 |
+
"count": 469,
|
| 103 |
+
"spliced": true
|
| 104 |
+
},
|
| 105 |
+
"trajectory_alignment": {
|
| 106 |
+
"frames": 469,
|
| 107 |
+
"fps": 30.0,
|
| 108 |
+
"spliced": true,
|
| 109 |
+
"sidecar_samples": 786,
|
| 110 |
+
"sidecar_span_s": [
|
| 111 |
+
1786063517.167849,
|
| 112 |
+
1786063533.5258849
|
| 113 |
+
],
|
| 114 |
+
"query_span_s": [
|
| 115 |
+
1786063517.1845691,
|
| 116 |
+
1786063533.484569
|
| 117 |
+
],
|
| 118 |
+
"clamped_frames": 0,
|
| 119 |
+
"gap_median_s": 0.0053043365478515625,
|
| 120 |
+
"gap_p95_s": 0.008702611923217772,
|
| 121 |
+
"gap_max_s": 0.012086629867553711,
|
| 122 |
+
"seams": null
|
| 123 |
+
}
|
| 124 |
+
}
|
.recording_staging/_committed/episode-000016-adbbe9dc/manifest.json
ADDED
|
@@ -0,0 +1,230 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 17,
|
| 5 |
+
"created_at": 1786064214.9428618,
|
| 6 |
+
"episode_index": 17,
|
| 7 |
+
"episode_len": 416,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 16,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063540.8512356,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 697,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 23,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
22097,
|
| 60 |
+
22246
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
22265,
|
| 64 |
+
22532
|
| 65 |
+
]
|
| 66 |
+
],
|
| 67 |
+
"t0_wall_s": 1786062804.284569,
|
| 68 |
+
"take_id": "e246d0fc",
|
| 69 |
+
"window": [
|
| 70 |
+
22083,
|
| 71 |
+
22532
|
| 72 |
+
]
|
| 73 |
+
},
|
| 74 |
+
"source_episode_index": 16,
|
| 75 |
+
"state": "committed",
|
| 76 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 77 |
+
"svo_pulled": true,
|
| 78 |
+
"tactile_enabled": false,
|
| 79 |
+
"take_id": "adbbe9dc",
|
| 80 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 81 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 82 |
+
"timesync": {
|
| 83 |
+
"offset_s": -67313034.32310146,
|
| 84 |
+
"rtt_s": 0.001900413,
|
| 85 |
+
"uncertainty_s": 0.000896799
|
| 86 |
+
},
|
| 87 |
+
"timing": {
|
| 88 |
+
"cameras": {
|
| 89 |
+
"observation.images.agent_stereo": {
|
| 90 |
+
"held_camera": 162,
|
| 91 |
+
"held_slots": 162,
|
| 92 |
+
"imu_cached": true,
|
| 93 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 94 |
+
"missing_camera": 0,
|
| 95 |
+
"missing_fraction": 0.0,
|
| 96 |
+
"pre_roll_ns": 16666667,
|
| 97 |
+
"residual_median_s": 0.008721231999999999,
|
| 98 |
+
"residual_p95_s": 0.057960458000000006,
|
| 99 |
+
"samples_after_trim": 13216,
|
| 100 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 101 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 102 |
+
"total_slots": 416,
|
| 103 |
+
"trimmed_before_t0": 14170
|
| 104 |
+
},
|
| 105 |
+
"observation.images.front_stereo": {
|
| 106 |
+
"held_camera": 160,
|
| 107 |
+
"held_slots": 160,
|
| 108 |
+
"imu_cached": true,
|
| 109 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 110 |
+
"missing_camera": 0,
|
| 111 |
+
"missing_fraction": 0.0,
|
| 112 |
+
"pre_roll_ns": 16666667,
|
| 113 |
+
"residual_median_s": 0.014205644,
|
| 114 |
+
"residual_p95_s": 0.047586834,
|
| 115 |
+
"samples_after_trim": 13209,
|
| 116 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 117 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 118 |
+
"total_slots": 416,
|
| 119 |
+
"trimmed_before_t0": 14168
|
| 120 |
+
},
|
| 121 |
+
"observation.images.left_stereo": {
|
| 122 |
+
"held_camera": 164,
|
| 123 |
+
"held_slots": 164,
|
| 124 |
+
"imu_cached": true,
|
| 125 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 126 |
+
"missing_camera": 0,
|
| 127 |
+
"missing_fraction": 0.0,
|
| 128 |
+
"pre_roll_ns": 16666667,
|
| 129 |
+
"residual_median_s": 0.014236019999999999,
|
| 130 |
+
"residual_p95_s": 0.06420296,
|
| 131 |
+
"samples_after_trim": 13212,
|
| 132 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 133 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 134 |
+
"total_slots": 416,
|
| 135 |
+
"trimmed_before_t0": 14168
|
| 136 |
+
},
|
| 137 |
+
"observation.images.wrist_stereo": {
|
| 138 |
+
"held_camera": 166,
|
| 139 |
+
"held_slots": 166,
|
| 140 |
+
"imu_cached": true,
|
| 141 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 142 |
+
"missing_camera": 0,
|
| 143 |
+
"missing_fraction": 0.0,
|
| 144 |
+
"pre_roll_ns": 16666667,
|
| 145 |
+
"residual_median_s": 0.008737604,
|
| 146 |
+
"residual_p95_s": 0.057951272,
|
| 147 |
+
"samples_after_trim": 13215,
|
| 148 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 149 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 150 |
+
"total_slots": 416,
|
| 151 |
+
"trimmed_before_t0": 14165
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"fps": 30.0,
|
| 155 |
+
"frame_times_s": {
|
| 156 |
+
"count": 416,
|
| 157 |
+
"first": 1786063540.8512356,
|
| 158 |
+
"last": 1786063555.3179023,
|
| 159 |
+
"spliced": true
|
| 160 |
+
},
|
| 161 |
+
"imu_dir": "imu",
|
| 162 |
+
"jetson_folder": "take_e246d0fc",
|
| 163 |
+
"n_frames": 416,
|
| 164 |
+
"record_ack_wall_s": 1786063540.8512356,
|
| 165 |
+
"session": {
|
| 166 |
+
"clip_index": 23,
|
| 167 |
+
"n_clips": 34,
|
| 168 |
+
"segments": [
|
| 169 |
+
[
|
| 170 |
+
22097,
|
| 171 |
+
22246
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
22265,
|
| 175 |
+
22532
|
| 176 |
+
]
|
| 177 |
+
],
|
| 178 |
+
"take_id": "e246d0fc",
|
| 179 |
+
"window": [
|
| 180 |
+
22083,
|
| 181 |
+
22532
|
| 182 |
+
]
|
| 183 |
+
},
|
| 184 |
+
"spliced": true,
|
| 185 |
+
"t0_image_ns": 1718750506528134144,
|
| 186 |
+
"timesync": {
|
| 187 |
+
"offset_s": -67313034.32310146,
|
| 188 |
+
"rtt_s": 0.001900413,
|
| 189 |
+
"uncertainty_s": 0.000896799
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"trajectory_alignment": {
|
| 193 |
+
"clamped_frames": 0,
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"frames": 416,
|
| 196 |
+
"gap_max_s": 0.011970758438110352,
|
| 197 |
+
"gap_median_s": 0.005308747291564941,
|
| 198 |
+
"gap_p95_s": 0.008968830108642578,
|
| 199 |
+
"query_span_s": [
|
| 200 |
+
1786063540.8512356,
|
| 201 |
+
1786063555.3179023
|
| 202 |
+
],
|
| 203 |
+
"seams": null,
|
| 204 |
+
"sidecar_samples": 697,
|
| 205 |
+
"sidecar_span_s": [
|
| 206 |
+
1786063540.8460562,
|
| 207 |
+
1786063555.3681254
|
| 208 |
+
],
|
| 209 |
+
"spliced": true
|
| 210 |
+
},
|
| 211 |
+
"updated_at": 1786410877.0379002,
|
| 212 |
+
"video_files": {
|
| 213 |
+
"observation.images.agent_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.front_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
},
|
| 221 |
+
"observation.images.left_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.wrist_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
}
|
| 229 |
+
}
|
| 230 |
+
}
|
.recording_staging/_committed/episode-000016-adbbe9dc/timing.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 166,
|
| 6 |
+
"total_slots": 416,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.008737604,
|
| 9 |
+
"residual_p95_s": 0.057951272,
|
| 10 |
+
"held_slots": 166,
|
| 11 |
+
"trimmed_before_t0": 14165,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 13215,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 162,
|
| 22 |
+
"total_slots": 416,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.008721231999999999,
|
| 25 |
+
"residual_p95_s": 0.057960458000000006,
|
| 26 |
+
"held_slots": 162,
|
| 27 |
+
"trimmed_before_t0": 14170,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 13216,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 164,
|
| 38 |
+
"total_slots": 416,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.014236019999999999,
|
| 41 |
+
"residual_p95_s": 0.06420296,
|
| 42 |
+
"held_slots": 164,
|
| 43 |
+
"trimmed_before_t0": 14168,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 13212,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 160,
|
| 54 |
+
"total_slots": 416,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.014205644,
|
| 57 |
+
"residual_p95_s": 0.047586834,
|
| 58 |
+
"held_slots": 160,
|
| 59 |
+
"trimmed_before_t0": 14168,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 13209,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 416,
|
| 70 |
+
"t0_image_ns": 1718750506528134144,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063540.8512356,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 23,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
22097,
|
| 87 |
+
22246
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
22265,
|
| 91 |
+
22532
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
"window": [
|
| 95 |
+
22083,
|
| 96 |
+
22532
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"frame_times_s": {
|
| 100 |
+
"first": 1786063540.8512356,
|
| 101 |
+
"last": 1786063555.3179023,
|
| 102 |
+
"count": 416,
|
| 103 |
+
"spliced": true
|
| 104 |
+
},
|
| 105 |
+
"trajectory_alignment": {
|
| 106 |
+
"frames": 416,
|
| 107 |
+
"fps": 30.0,
|
| 108 |
+
"spliced": true,
|
| 109 |
+
"sidecar_samples": 697,
|
| 110 |
+
"sidecar_span_s": [
|
| 111 |
+
1786063540.8460562,
|
| 112 |
+
1786063555.3681254
|
| 113 |
+
],
|
| 114 |
+
"query_span_s": [
|
| 115 |
+
1786063540.8512356,
|
| 116 |
+
1786063555.3179023
|
| 117 |
+
],
|
| 118 |
+
"clamped_frames": 0,
|
| 119 |
+
"gap_median_s": 0.005308747291564941,
|
| 120 |
+
"gap_p95_s": 0.008968830108642578,
|
| 121 |
+
"gap_max_s": 0.011970758438110352,
|
| 122 |
+
"seams": null
|
| 123 |
+
}
|
| 124 |
+
}
|
.recording_staging/_committed/episode-000017-9d75eb28/manifest.json
ADDED
|
@@ -0,0 +1,230 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 18,
|
| 5 |
+
"created_at": 1786064215.0016944,
|
| 6 |
+
"episode_index": 18,
|
| 7 |
+
"episode_len": 502,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 17,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063565.6512356,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 840,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 24,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
22841,
|
| 60 |
+
23049
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
23067,
|
| 64 |
+
23361
|
| 65 |
+
]
|
| 66 |
+
],
|
| 67 |
+
"t0_wall_s": 1786062804.284569,
|
| 68 |
+
"take_id": "e246d0fc",
|
| 69 |
+
"window": [
|
| 70 |
+
22821,
|
| 71 |
+
23361
|
| 72 |
+
]
|
| 73 |
+
},
|
| 74 |
+
"source_episode_index": 17,
|
| 75 |
+
"state": "committed",
|
| 76 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 77 |
+
"svo_pulled": true,
|
| 78 |
+
"tactile_enabled": false,
|
| 79 |
+
"take_id": "9d75eb28",
|
| 80 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 81 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 82 |
+
"timesync": {
|
| 83 |
+
"offset_s": -67313034.32310146,
|
| 84 |
+
"rtt_s": 0.001900413,
|
| 85 |
+
"uncertainty_s": 0.000896799
|
| 86 |
+
},
|
| 87 |
+
"timing": {
|
| 88 |
+
"cameras": {
|
| 89 |
+
"observation.images.agent_stereo": {
|
| 90 |
+
"held_camera": 195,
|
| 91 |
+
"held_slots": 195,
|
| 92 |
+
"imu_cached": true,
|
| 93 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 94 |
+
"missing_camera": 0,
|
| 95 |
+
"missing_fraction": 0.0,
|
| 96 |
+
"pre_roll_ns": 16666667,
|
| 97 |
+
"residual_median_s": 0.008849356,
|
| 98 |
+
"residual_p95_s": 0.0578243652,
|
| 99 |
+
"samples_after_trim": 12744,
|
| 100 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 101 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 102 |
+
"total_slots": 502,
|
| 103 |
+
"trimmed_before_t0": 14642
|
| 104 |
+
},
|
| 105 |
+
"observation.images.front_stereo": {
|
| 106 |
+
"held_camera": 197,
|
| 107 |
+
"held_slots": 197,
|
| 108 |
+
"imu_cached": true,
|
| 109 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 110 |
+
"missing_camera": 0,
|
| 111 |
+
"missing_fraction": 0.0,
|
| 112 |
+
"pre_roll_ns": 16666667,
|
| 113 |
+
"residual_median_s": 0.014098272,
|
| 114 |
+
"residual_p95_s": 0.064076646,
|
| 115 |
+
"samples_after_trim": 12737,
|
| 116 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 117 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 118 |
+
"total_slots": 502,
|
| 119 |
+
"trimmed_before_t0": 14640
|
| 120 |
+
},
|
| 121 |
+
"observation.images.left_stereo": {
|
| 122 |
+
"held_camera": 195,
|
| 123 |
+
"held_slots": 195,
|
| 124 |
+
"imu_cached": true,
|
| 125 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 126 |
+
"missing_camera": 0,
|
| 127 |
+
"missing_fraction": 0.0,
|
| 128 |
+
"pre_roll_ns": 16666667,
|
| 129 |
+
"residual_median_s": 0.014110643999999999,
|
| 130 |
+
"residual_p95_s": 0.0641205152,
|
| 131 |
+
"samples_after_trim": 12740,
|
| 132 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 133 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 134 |
+
"total_slots": 502,
|
| 135 |
+
"trimmed_before_t0": 14640
|
| 136 |
+
},
|
| 137 |
+
"observation.images.wrist_stereo": {
|
| 138 |
+
"held_camera": 195,
|
| 139 |
+
"held_slots": 195,
|
| 140 |
+
"imu_cached": true,
|
| 141 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 142 |
+
"missing_camera": 0,
|
| 143 |
+
"missing_fraction": 0.0,
|
| 144 |
+
"pre_roll_ns": 16666667,
|
| 145 |
+
"residual_median_s": 0.008866728,
|
| 146 |
+
"residual_p95_s": 0.0412070688,
|
| 147 |
+
"samples_after_trim": 12743,
|
| 148 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 149 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 150 |
+
"total_slots": 502,
|
| 151 |
+
"trimmed_before_t0": 14637
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"fps": 30.0,
|
| 155 |
+
"frame_times_s": {
|
| 156 |
+
"count": 502,
|
| 157 |
+
"first": 1786063565.6512356,
|
| 158 |
+
"last": 1786063582.9512358,
|
| 159 |
+
"spliced": true
|
| 160 |
+
},
|
| 161 |
+
"imu_dir": "imu",
|
| 162 |
+
"jetson_folder": "take_e246d0fc",
|
| 163 |
+
"n_frames": 502,
|
| 164 |
+
"record_ack_wall_s": 1786063565.6512356,
|
| 165 |
+
"session": {
|
| 166 |
+
"clip_index": 24,
|
| 167 |
+
"n_clips": 34,
|
| 168 |
+
"segments": [
|
| 169 |
+
[
|
| 170 |
+
22841,
|
| 171 |
+
23049
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
23067,
|
| 175 |
+
23361
|
| 176 |
+
]
|
| 177 |
+
],
|
| 178 |
+
"take_id": "e246d0fc",
|
| 179 |
+
"window": [
|
| 180 |
+
22821,
|
| 181 |
+
23361
|
| 182 |
+
]
|
| 183 |
+
},
|
| 184 |
+
"spliced": true,
|
| 185 |
+
"t0_image_ns": 1718750531328134144,
|
| 186 |
+
"timesync": {
|
| 187 |
+
"offset_s": -67313034.32310146,
|
| 188 |
+
"rtt_s": 0.001900413,
|
| 189 |
+
"uncertainty_s": 0.000896799
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"trajectory_alignment": {
|
| 193 |
+
"clamped_frames": 0,
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"frames": 502,
|
| 196 |
+
"gap_max_s": 0.014037609100341797,
|
| 197 |
+
"gap_median_s": 0.004468202590942383,
|
| 198 |
+
"gap_p95_s": 0.009881293773651122,
|
| 199 |
+
"query_span_s": [
|
| 200 |
+
1786063565.6512356,
|
| 201 |
+
1786063582.9512358
|
| 202 |
+
],
|
| 203 |
+
"seams": null,
|
| 204 |
+
"sidecar_samples": 840,
|
| 205 |
+
"sidecar_span_s": [
|
| 206 |
+
1786063565.6460583,
|
| 207 |
+
1786063582.986608
|
| 208 |
+
],
|
| 209 |
+
"spliced": true
|
| 210 |
+
},
|
| 211 |
+
"updated_at": 1786410924.2748394,
|
| 212 |
+
"video_files": {
|
| 213 |
+
"observation.images.agent_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.front_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
},
|
| 221 |
+
"observation.images.left_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.wrist_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
}
|
| 229 |
+
}
|
| 230 |
+
}
|
.recording_staging/_committed/episode-000017-9d75eb28/timing.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 195,
|
| 6 |
+
"total_slots": 502,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.008866728,
|
| 9 |
+
"residual_p95_s": 0.0412070688,
|
| 10 |
+
"held_slots": 195,
|
| 11 |
+
"trimmed_before_t0": 14637,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 12743,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 195,
|
| 22 |
+
"total_slots": 502,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.008849356,
|
| 25 |
+
"residual_p95_s": 0.0578243652,
|
| 26 |
+
"held_slots": 195,
|
| 27 |
+
"trimmed_before_t0": 14642,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 12744,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 195,
|
| 38 |
+
"total_slots": 502,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.014110643999999999,
|
| 41 |
+
"residual_p95_s": 0.0641205152,
|
| 42 |
+
"held_slots": 195,
|
| 43 |
+
"trimmed_before_t0": 14640,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 12740,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 197,
|
| 54 |
+
"total_slots": 502,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.014098272,
|
| 57 |
+
"residual_p95_s": 0.064076646,
|
| 58 |
+
"held_slots": 197,
|
| 59 |
+
"trimmed_before_t0": 14640,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 12737,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 502,
|
| 70 |
+
"t0_image_ns": 1718750531328134144,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063565.6512356,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 24,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
22841,
|
| 87 |
+
23049
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
23067,
|
| 91 |
+
23361
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
"window": [
|
| 95 |
+
22821,
|
| 96 |
+
23361
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"frame_times_s": {
|
| 100 |
+
"first": 1786063565.6512356,
|
| 101 |
+
"last": 1786063582.9512358,
|
| 102 |
+
"count": 502,
|
| 103 |
+
"spliced": true
|
| 104 |
+
},
|
| 105 |
+
"trajectory_alignment": {
|
| 106 |
+
"frames": 502,
|
| 107 |
+
"fps": 30.0,
|
| 108 |
+
"spliced": true,
|
| 109 |
+
"sidecar_samples": 840,
|
| 110 |
+
"sidecar_span_s": [
|
| 111 |
+
1786063565.6460583,
|
| 112 |
+
1786063582.986608
|
| 113 |
+
],
|
| 114 |
+
"query_span_s": [
|
| 115 |
+
1786063565.6512356,
|
| 116 |
+
1786063582.9512358
|
| 117 |
+
],
|
| 118 |
+
"clamped_frames": 0,
|
| 119 |
+
"gap_median_s": 0.004468202590942383,
|
| 120 |
+
"gap_p95_s": 0.009881293773651122,
|
| 121 |
+
"gap_max_s": 0.014037609100341797,
|
| 122 |
+
"seams": null
|
| 123 |
+
}
|
| 124 |
+
}
|
.recording_staging/_committed/episode-000019-244a6e7e/timing.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 146,
|
| 6 |
+
"total_slots": 390,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.009443232,
|
| 9 |
+
"residual_p95_s": 0.0405977576,
|
| 10 |
+
"held_slots": 146,
|
| 11 |
+
"trimmed_before_t0": 16984,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 10396,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 149,
|
| 22 |
+
"total_slots": 390,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.009423352,
|
| 25 |
+
"residual_p95_s": 0.040623244,
|
| 26 |
+
"held_slots": 149,
|
| 27 |
+
"trimmed_before_t0": 16991,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 10395,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 149,
|
| 38 |
+
"total_slots": 390,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.013551896,
|
| 41 |
+
"residual_p95_s": 0.0469022688,
|
| 42 |
+
"held_slots": 149,
|
| 43 |
+
"trimmed_before_t0": 16987,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 10393,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 149,
|
| 54 |
+
"total_slots": 390,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.013522768000000001,
|
| 57 |
+
"residual_p95_s": 0.0468839444,
|
| 58 |
+
"held_slots": 149,
|
| 59 |
+
"trimmed_before_t0": 16982,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 10395,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 390,
|
| 70 |
+
"t0_image_ns": 1718750653694800896,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063688.0179024,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 27,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
26512,
|
| 87 |
+
26659
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
26672,
|
| 91 |
+
26915
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
"window": [
|
| 95 |
+
26504,
|
| 96 |
+
26915
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"frame_times_s": {
|
| 100 |
+
"first": 1786063688.0179024,
|
| 101 |
+
"last": 1786063701.4179025,
|
| 102 |
+
"count": 390,
|
| 103 |
+
"spliced": true
|
| 104 |
+
},
|
| 105 |
+
"trajectory_alignment": {
|
| 106 |
+
"frames": 390,
|
| 107 |
+
"fps": 30.0,
|
| 108 |
+
"spliced": true,
|
| 109 |
+
"sidecar_samples": 643,
|
| 110 |
+
"sidecar_span_s": [
|
| 111 |
+
1786063688.0103166,
|
| 112 |
+
1786063701.4698718
|
| 113 |
+
],
|
| 114 |
+
"query_span_s": [
|
| 115 |
+
1786063688.0179024,
|
| 116 |
+
1786063701.4179025
|
| 117 |
+
],
|
| 118 |
+
"clamped_frames": 0,
|
| 119 |
+
"gap_median_s": 0.004269003868103027,
|
| 120 |
+
"gap_p95_s": 0.009250903129577636,
|
| 121 |
+
"gap_max_s": 0.11672806739807129,
|
| 122 |
+
"seams": null
|
| 123 |
+
}
|
| 124 |
+
}
|
.recording_staging/_committed/episode-000020-d3773a88/manifest.json
ADDED
|
@@ -0,0 +1,222 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 21,
|
| 5 |
+
"created_at": 1786064215.1597698,
|
| 6 |
+
"episode_index": 21,
|
| 7 |
+
"episode_len": 390,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 20,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786063707.5512357,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 652,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 28,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
27098,
|
| 60 |
+
27488
|
| 61 |
+
]
|
| 62 |
+
],
|
| 63 |
+
"t0_wall_s": 1786062804.284569,
|
| 64 |
+
"take_id": "e246d0fc",
|
| 65 |
+
"window": [
|
| 66 |
+
27070,
|
| 67 |
+
27581
|
| 68 |
+
]
|
| 69 |
+
},
|
| 70 |
+
"source_episode_index": 20,
|
| 71 |
+
"state": "committed",
|
| 72 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 73 |
+
"svo_pulled": true,
|
| 74 |
+
"tactile_enabled": false,
|
| 75 |
+
"take_id": "d3773a88",
|
| 76 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 77 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 78 |
+
"timesync": {
|
| 79 |
+
"offset_s": -67313034.32310146,
|
| 80 |
+
"rtt_s": 0.001900413,
|
| 81 |
+
"uncertainty_s": 0.000896799
|
| 82 |
+
},
|
| 83 |
+
"timing": {
|
| 84 |
+
"cameras": {
|
| 85 |
+
"observation.images.agent_stereo": {
|
| 86 |
+
"held_camera": 160,
|
| 87 |
+
"held_slots": 160,
|
| 88 |
+
"imu_cached": true,
|
| 89 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 90 |
+
"missing_camera": 0,
|
| 91 |
+
"missing_fraction": 0.0,
|
| 92 |
+
"pre_roll_ns": 16666667,
|
| 93 |
+
"residual_median_s": 0.00952898,
|
| 94 |
+
"residual_p95_s": 0.0571964708,
|
| 95 |
+
"samples_after_trim": 10026,
|
| 96 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 97 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 98 |
+
"total_slots": 390,
|
| 99 |
+
"trimmed_before_t0": 17360
|
| 100 |
+
},
|
| 101 |
+
"observation.images.front_stereo": {
|
| 102 |
+
"held_camera": 157,
|
| 103 |
+
"held_slots": 157,
|
| 104 |
+
"imu_cached": true,
|
| 105 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 106 |
+
"missing_camera": 0,
|
| 107 |
+
"missing_fraction": 0.0,
|
| 108 |
+
"pre_roll_ns": 16666667,
|
| 109 |
+
"residual_median_s": 0.013445268,
|
| 110 |
+
"residual_p95_s": 0.0634266328,
|
| 111 |
+
"samples_after_trim": 10025,
|
| 112 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 113 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 114 |
+
"total_slots": 390,
|
| 115 |
+
"trimmed_before_t0": 17352
|
| 116 |
+
},
|
| 117 |
+
"observation.images.left_stereo": {
|
| 118 |
+
"held_camera": 154,
|
| 119 |
+
"held_slots": 154,
|
| 120 |
+
"imu_cached": true,
|
| 121 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 122 |
+
"missing_camera": 0,
|
| 123 |
+
"missing_fraction": 0.0,
|
| 124 |
+
"pre_roll_ns": 16666667,
|
| 125 |
+
"residual_median_s": 0.013468144,
|
| 126 |
+
"residual_p95_s": 0.0801170168,
|
| 127 |
+
"samples_after_trim": 10024,
|
| 128 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 129 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 130 |
+
"total_slots": 390,
|
| 131 |
+
"trimmed_before_t0": 17356
|
| 132 |
+
},
|
| 133 |
+
"observation.images.wrist_stereo": {
|
| 134 |
+
"held_camera": 158,
|
| 135 |
+
"held_slots": 158,
|
| 136 |
+
"imu_cached": true,
|
| 137 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 138 |
+
"missing_camera": 0,
|
| 139 |
+
"missing_fraction": 0.0,
|
| 140 |
+
"pre_roll_ns": 16666667,
|
| 141 |
+
"residual_median_s": 0.009538356000000001,
|
| 142 |
+
"residual_p95_s": 0.073802794,
|
| 143 |
+
"samples_after_trim": 10026,
|
| 144 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 145 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 146 |
+
"total_slots": 390,
|
| 147 |
+
"trimmed_before_t0": 17354
|
| 148 |
+
}
|
| 149 |
+
},
|
| 150 |
+
"fps": 30.0,
|
| 151 |
+
"frame_times_s": {
|
| 152 |
+
"count": 390,
|
| 153 |
+
"first": 1786063707.5512357,
|
| 154 |
+
"last": 1786063720.5179024,
|
| 155 |
+
"spliced": true
|
| 156 |
+
},
|
| 157 |
+
"imu_dir": "imu",
|
| 158 |
+
"jetson_folder": "take_e246d0fc",
|
| 159 |
+
"n_frames": 390,
|
| 160 |
+
"record_ack_wall_s": 1786063707.5512357,
|
| 161 |
+
"session": {
|
| 162 |
+
"clip_index": 28,
|
| 163 |
+
"n_clips": 34,
|
| 164 |
+
"segments": [
|
| 165 |
+
[
|
| 166 |
+
27098,
|
| 167 |
+
27488
|
| 168 |
+
]
|
| 169 |
+
],
|
| 170 |
+
"take_id": "e246d0fc",
|
| 171 |
+
"window": [
|
| 172 |
+
27070,
|
| 173 |
+
27581
|
| 174 |
+
]
|
| 175 |
+
},
|
| 176 |
+
"spliced": true,
|
| 177 |
+
"t0_image_ns": 1718750673228134144,
|
| 178 |
+
"timesync": {
|
| 179 |
+
"offset_s": -67313034.32310146,
|
| 180 |
+
"rtt_s": 0.001900413,
|
| 181 |
+
"uncertainty_s": 0.000896799
|
| 182 |
+
}
|
| 183 |
+
},
|
| 184 |
+
"trajectory_alignment": {
|
| 185 |
+
"clamped_frames": 0,
|
| 186 |
+
"fps": 30.0,
|
| 187 |
+
"frames": 390,
|
| 188 |
+
"gap_max_s": 0.012918710708618164,
|
| 189 |
+
"gap_median_s": 0.00428926944732666,
|
| 190 |
+
"gap_p95_s": 0.009226715564727782,
|
| 191 |
+
"query_span_s": [
|
| 192 |
+
1786063707.5512357,
|
| 193 |
+
1786063720.5179024
|
| 194 |
+
],
|
| 195 |
+
"seams": null,
|
| 196 |
+
"sidecar_samples": 652,
|
| 197 |
+
"sidecar_span_s": [
|
| 198 |
+
1786063707.5416198,
|
| 199 |
+
1786063720.5915513
|
| 200 |
+
],
|
| 201 |
+
"spliced": true
|
| 202 |
+
},
|
| 203 |
+
"updated_at": 1786411070.8764246,
|
| 204 |
+
"video_files": {
|
| 205 |
+
"observation.images.agent_stereo": {
|
| 206 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 207 |
+
"stats": null
|
| 208 |
+
},
|
| 209 |
+
"observation.images.front_stereo": {
|
| 210 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 211 |
+
"stats": null
|
| 212 |
+
},
|
| 213 |
+
"observation.images.left_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.wrist_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
}
|
.recording_staging/_committed/episode-000020-d3773a88/timing.json
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 158,
|
| 6 |
+
"total_slots": 390,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.009538356000000001,
|
| 9 |
+
"residual_p95_s": 0.073802794,
|
| 10 |
+
"held_slots": 158,
|
| 11 |
+
"trimmed_before_t0": 17354,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 10026,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 160,
|
| 22 |
+
"total_slots": 390,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.00952898,
|
| 25 |
+
"residual_p95_s": 0.0571964708,
|
| 26 |
+
"held_slots": 160,
|
| 27 |
+
"trimmed_before_t0": 17360,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 10026,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 154,
|
| 38 |
+
"total_slots": 390,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.013468144,
|
| 41 |
+
"residual_p95_s": 0.0801170168,
|
| 42 |
+
"held_slots": 154,
|
| 43 |
+
"trimmed_before_t0": 17356,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 10024,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 157,
|
| 54 |
+
"total_slots": 390,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.013445268,
|
| 57 |
+
"residual_p95_s": 0.0634266328,
|
| 58 |
+
"held_slots": 157,
|
| 59 |
+
"trimmed_before_t0": 17352,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 10025,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 390,
|
| 70 |
+
"t0_image_ns": 1718750673228134144,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786063707.5512357,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 28,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
27098,
|
| 87 |
+
27488
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"window": [
|
| 91 |
+
27070,
|
| 92 |
+
27581
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"frame_times_s": {
|
| 96 |
+
"first": 1786063707.5512357,
|
| 97 |
+
"last": 1786063720.5179024,
|
| 98 |
+
"count": 390,
|
| 99 |
+
"spliced": true
|
| 100 |
+
},
|
| 101 |
+
"trajectory_alignment": {
|
| 102 |
+
"frames": 390,
|
| 103 |
+
"fps": 30.0,
|
| 104 |
+
"spliced": true,
|
| 105 |
+
"sidecar_samples": 652,
|
| 106 |
+
"sidecar_span_s": [
|
| 107 |
+
1786063707.5416198,
|
| 108 |
+
1786063720.5915513
|
| 109 |
+
],
|
| 110 |
+
"query_span_s": [
|
| 111 |
+
1786063707.5512357,
|
| 112 |
+
1786063720.5179024
|
| 113 |
+
],
|
| 114 |
+
"clamped_frames": 0,
|
| 115 |
+
"gap_median_s": 0.00428926944732666,
|
| 116 |
+
"gap_p95_s": 0.009226715564727782,
|
| 117 |
+
"gap_max_s": 0.012918710708618164,
|
| 118 |
+
"seams": null
|
| 119 |
+
}
|
| 120 |
+
}
|
.recording_staging/_committed/episode-000021-7d1755f2/manifest.json
ADDED
|
@@ -0,0 +1,230 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 22,
|
| 5 |
+
"created_at": 1786064215.2489147,
|
| 6 |
+
"episode_index": 22,
|
| 7 |
+
"episode_len": 695,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 21,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786064054.3512356,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 1163,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 30,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": false,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
37502,
|
| 60 |
+
37998
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
38012,
|
| 64 |
+
38211
|
| 65 |
+
]
|
| 66 |
+
],
|
| 67 |
+
"t0_wall_s": 1786062804.284569,
|
| 68 |
+
"take_id": "e246d0fc",
|
| 69 |
+
"window": [
|
| 70 |
+
37483,
|
| 71 |
+
38211
|
| 72 |
+
]
|
| 73 |
+
},
|
| 74 |
+
"source_episode_index": 21,
|
| 75 |
+
"state": "committed",
|
| 76 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 77 |
+
"svo_pulled": true,
|
| 78 |
+
"tactile_enabled": false,
|
| 79 |
+
"take_id": "7d1755f2",
|
| 80 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 81 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 82 |
+
"timesync": {
|
| 83 |
+
"offset_s": -67313034.32310146,
|
| 84 |
+
"rtt_s": 0.001900413,
|
| 85 |
+
"uncertainty_s": 0.000896799
|
| 86 |
+
},
|
| 87 |
+
"timing": {
|
| 88 |
+
"cameras": {
|
| 89 |
+
"observation.images.agent_stereo": {
|
| 90 |
+
"held_camera": 272,
|
| 91 |
+
"held_slots": 272,
|
| 92 |
+
"imu_cached": true,
|
| 93 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 94 |
+
"missing_camera": 0,
|
| 95 |
+
"missing_fraction": 0.0,
|
| 96 |
+
"pre_roll_ns": 16666667,
|
| 97 |
+
"residual_median_s": 0.011202104,
|
| 98 |
+
"residual_p95_s": 0.043850871199999246,
|
| 99 |
+
"samples_after_trim": 3030,
|
| 100 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 101 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 102 |
+
"total_slots": 695,
|
| 103 |
+
"trimmed_before_t0": 24356
|
| 104 |
+
},
|
| 105 |
+
"observation.images.front_stereo": {
|
| 106 |
+
"held_camera": 269,
|
| 107 |
+
"held_slots": 269,
|
| 108 |
+
"imu_cached": true,
|
| 109 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 110 |
+
"missing_camera": 0,
|
| 111 |
+
"missing_fraction": 0.0,
|
| 112 |
+
"pre_roll_ns": 16666667,
|
| 113 |
+
"residual_median_s": 0.011816144,
|
| 114 |
+
"residual_p95_s": 0.045198669600000005,
|
| 115 |
+
"samples_after_trim": 3032,
|
| 116 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 117 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 118 |
+
"total_slots": 695,
|
| 119 |
+
"trimmed_before_t0": 24345
|
| 120 |
+
},
|
| 121 |
+
"observation.images.left_stereo": {
|
| 122 |
+
"held_camera": 273,
|
| 123 |
+
"held_slots": 273,
|
| 124 |
+
"imu_cached": true,
|
| 125 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 126 |
+
"missing_camera": 0,
|
| 127 |
+
"missing_fraction": 0.0,
|
| 128 |
+
"pre_roll_ns": 16666667,
|
| 129 |
+
"residual_median_s": 0.011844896,
|
| 130 |
+
"residual_p95_s": 0.0617962704,
|
| 131 |
+
"samples_after_trim": 3032,
|
| 132 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 133 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 134 |
+
"total_slots": 695,
|
| 135 |
+
"trimmed_before_t0": 24348
|
| 136 |
+
},
|
| 137 |
+
"observation.images.wrist_stereo": {
|
| 138 |
+
"held_camera": 273,
|
| 139 |
+
"held_slots": 273,
|
| 140 |
+
"imu_cached": true,
|
| 141 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 142 |
+
"missing_camera": 0,
|
| 143 |
+
"missing_fraction": 0.0,
|
| 144 |
+
"pre_roll_ns": 16666667,
|
| 145 |
+
"residual_median_s": 0.01122536,
|
| 146 |
+
"residual_p95_s": 0.0388694704,
|
| 147 |
+
"samples_after_trim": 3032,
|
| 148 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 149 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 150 |
+
"total_slots": 695,
|
| 151 |
+
"trimmed_before_t0": 24348
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"fps": 30.0,
|
| 155 |
+
"frame_times_s": {
|
| 156 |
+
"count": 695,
|
| 157 |
+
"first": 1786064054.3512356,
|
| 158 |
+
"last": 1786064077.9512358,
|
| 159 |
+
"spliced": true
|
| 160 |
+
},
|
| 161 |
+
"imu_dir": "imu",
|
| 162 |
+
"jetson_folder": "take_e246d0fc",
|
| 163 |
+
"n_frames": 695,
|
| 164 |
+
"record_ack_wall_s": 1786064054.3512356,
|
| 165 |
+
"session": {
|
| 166 |
+
"clip_index": 30,
|
| 167 |
+
"n_clips": 34,
|
| 168 |
+
"segments": [
|
| 169 |
+
[
|
| 170 |
+
37502,
|
| 171 |
+
37998
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
38012,
|
| 175 |
+
38211
|
| 176 |
+
]
|
| 177 |
+
],
|
| 178 |
+
"take_id": "e246d0fc",
|
| 179 |
+
"window": [
|
| 180 |
+
37483,
|
| 181 |
+
38211
|
| 182 |
+
]
|
| 183 |
+
},
|
| 184 |
+
"spliced": true,
|
| 185 |
+
"t0_image_ns": 1718751020028134144,
|
| 186 |
+
"timesync": {
|
| 187 |
+
"offset_s": -67313034.32310146,
|
| 188 |
+
"rtt_s": 0.001900413,
|
| 189 |
+
"uncertainty_s": 0.000896799
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"trajectory_alignment": {
|
| 193 |
+
"clamped_frames": 0,
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"frames": 695,
|
| 196 |
+
"gap_max_s": 0.014643669128417969,
|
| 197 |
+
"gap_median_s": 0.005067586898803711,
|
| 198 |
+
"gap_p95_s": 0.0112795352935791,
|
| 199 |
+
"query_span_s": [
|
| 200 |
+
1786064054.3512356,
|
| 201 |
+
1786064077.9512358
|
| 202 |
+
],
|
| 203 |
+
"seams": null,
|
| 204 |
+
"sidecar_samples": 1163,
|
| 205 |
+
"sidecar_span_s": [
|
| 206 |
+
1786064054.339453,
|
| 207 |
+
1786064077.9998448
|
| 208 |
+
],
|
| 209 |
+
"spliced": true
|
| 210 |
+
},
|
| 211 |
+
"updated_at": 1786411173.767531,
|
| 212 |
+
"video_files": {
|
| 213 |
+
"observation.images.agent_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.front_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
},
|
| 221 |
+
"observation.images.left_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.wrist_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
}
|
| 229 |
+
}
|
| 230 |
+
}
|
.recording_staging/_committed/episode-000021-7d1755f2/timing.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 273,
|
| 6 |
+
"total_slots": 695,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.01122536,
|
| 9 |
+
"residual_p95_s": 0.0388694704,
|
| 10 |
+
"held_slots": 273,
|
| 11 |
+
"trimmed_before_t0": 24348,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 3032,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 272,
|
| 22 |
+
"total_slots": 695,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.011202104,
|
| 25 |
+
"residual_p95_s": 0.043850871199999246,
|
| 26 |
+
"held_slots": 272,
|
| 27 |
+
"trimmed_before_t0": 24356,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 3030,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 273,
|
| 38 |
+
"total_slots": 695,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.011844896,
|
| 41 |
+
"residual_p95_s": 0.0617962704,
|
| 42 |
+
"held_slots": 273,
|
| 43 |
+
"trimmed_before_t0": 24348,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 3032,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 269,
|
| 54 |
+
"total_slots": 695,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.011816144,
|
| 57 |
+
"residual_p95_s": 0.045198669600000005,
|
| 58 |
+
"held_slots": 269,
|
| 59 |
+
"trimmed_before_t0": 24345,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 3032,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 695,
|
| 70 |
+
"t0_image_ns": 1718751020028134144,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786064054.3512356,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 30,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
37502,
|
| 87 |
+
37998
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
38012,
|
| 91 |
+
38211
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
"window": [
|
| 95 |
+
37483,
|
| 96 |
+
38211
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"frame_times_s": {
|
| 100 |
+
"first": 1786064054.3512356,
|
| 101 |
+
"last": 1786064077.9512358,
|
| 102 |
+
"count": 695,
|
| 103 |
+
"spliced": true
|
| 104 |
+
},
|
| 105 |
+
"trajectory_alignment": {
|
| 106 |
+
"frames": 695,
|
| 107 |
+
"fps": 30.0,
|
| 108 |
+
"spliced": true,
|
| 109 |
+
"sidecar_samples": 1163,
|
| 110 |
+
"sidecar_span_s": [
|
| 111 |
+
1786064054.339453,
|
| 112 |
+
1786064077.9998448
|
| 113 |
+
],
|
| 114 |
+
"query_span_s": [
|
| 115 |
+
1786064054.3512356,
|
| 116 |
+
1786064077.9512358
|
| 117 |
+
],
|
| 118 |
+
"clamped_frames": 0,
|
| 119 |
+
"gap_median_s": 0.005067586898803711,
|
| 120 |
+
"gap_p95_s": 0.0112795352935791,
|
| 121 |
+
"gap_max_s": 0.014643669128417969,
|
| 122 |
+
"seams": null
|
| 123 |
+
}
|
| 124 |
+
}
|
.recording_staging/_committed/episode-000022-1de2ae1f/manifest.json
ADDED
|
@@ -0,0 +1,230 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"ack_wall_ns": 1718749769956344298,
|
| 3 |
+
"buffer": "episode_buffer.pkl",
|
| 4 |
+
"committed_episode_index": 23,
|
| 5 |
+
"created_at": 1786064215.3690844,
|
| 6 |
+
"episode_index": 23,
|
| 7 |
+
"episode_len": 465,
|
| 8 |
+
"error": "Committed episode 0 camera observation.images.wrist_stereo spans 18.333s of video but 550 frames at 15 fps is 36.667s (drift 18333 ms > 100 ms)",
|
| 9 |
+
"failed_take": false,
|
| 10 |
+
"fps": 30,
|
| 11 |
+
"frame_count_verified": true,
|
| 12 |
+
"frames_pruned": true,
|
| 13 |
+
"image_dirs": {},
|
| 14 |
+
"imu_sidecar": "imu",
|
| 15 |
+
"jetson_files": [
|
| 16 |
+
{
|
| 17 |
+
"frames": 27386,
|
| 18 |
+
"serial": 45497847,
|
| 19 |
+
"svo": "/data/svo/take_e246d0fc/cam_45497847.svo2",
|
| 20 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_45497847.timestamps.jsonl"
|
| 21 |
+
},
|
| 22 |
+
{
|
| 23 |
+
"frames": 27380,
|
| 24 |
+
"serial": 48120998,
|
| 25 |
+
"svo": "/data/svo/take_e246d0fc/cam_48120998.svo2",
|
| 26 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_48120998.timestamps.jsonl"
|
| 27 |
+
},
|
| 28 |
+
{
|
| 29 |
+
"frames": 27380,
|
| 30 |
+
"serial": 57349359,
|
| 31 |
+
"svo": "/data/svo/take_e246d0fc/cam_57349359.svo2",
|
| 32 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_57349359.timestamps.jsonl"
|
| 33 |
+
},
|
| 34 |
+
{
|
| 35 |
+
"frames": 27377,
|
| 36 |
+
"serial": 59559558,
|
| 37 |
+
"svo": "/data/svo/take_e246d0fc/cam_59559558.svo2",
|
| 38 |
+
"timestamps": "/data/svo/take_e246d0fc/cam_59559558.timestamps.jsonl"
|
| 39 |
+
}
|
| 40 |
+
],
|
| 41 |
+
"jetson_folder": "take_e246d0fc",
|
| 42 |
+
"jetson_pull_dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull",
|
| 43 |
+
"mode": "jetson_svo",
|
| 44 |
+
"original_episode_index": 22,
|
| 45 |
+
"pending_stage_move": false,
|
| 46 |
+
"record_ack_wall_s": 1786064158.084569,
|
| 47 |
+
"repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 48 |
+
"robot_state_enabled": true,
|
| 49 |
+
"robot_state_sample_count": 779,
|
| 50 |
+
"robot_state_sidecar": "robot_state.parquet",
|
| 51 |
+
"session": {
|
| 52 |
+
"clip_index": 33,
|
| 53 |
+
"dir": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc",
|
| 54 |
+
"fps": 30.0,
|
| 55 |
+
"is_last": true,
|
| 56 |
+
"n_clips": 34,
|
| 57 |
+
"segments": [
|
| 58 |
+
[
|
| 59 |
+
40614,
|
| 60 |
+
40770
|
| 61 |
+
],
|
| 62 |
+
[
|
| 63 |
+
40783,
|
| 64 |
+
41092
|
| 65 |
+
]
|
| 66 |
+
],
|
| 67 |
+
"t0_wall_s": 1786062804.284569,
|
| 68 |
+
"take_id": "e246d0fc",
|
| 69 |
+
"window": [
|
| 70 |
+
40598,
|
| 71 |
+
41092
|
| 72 |
+
]
|
| 73 |
+
},
|
| 74 |
+
"source_episode_index": 22,
|
| 75 |
+
"state": "committed",
|
| 76 |
+
"svo_archived_to": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/svo/session_e246d0fc",
|
| 77 |
+
"svo_pulled": true,
|
| 78 |
+
"tactile_enabled": false,
|
| 79 |
+
"take_id": "1de2ae1f",
|
| 80 |
+
"target_repo_id": "cong-lab/robot_error_fail_wrong_rack",
|
| 81 |
+
"task": "Unsuccessful attempt; vortex off.",
|
| 82 |
+
"timesync": {
|
| 83 |
+
"offset_s": -67313034.32310146,
|
| 84 |
+
"rtt_s": 0.001900413,
|
| 85 |
+
"uncertainty_s": 0.000896799
|
| 86 |
+
},
|
| 87 |
+
"timing": {
|
| 88 |
+
"cameras": {
|
| 89 |
+
"observation.images.agent_stereo": {
|
| 90 |
+
"held_camera": 187,
|
| 91 |
+
"held_slots": 187,
|
| 92 |
+
"imu_cached": true,
|
| 93 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet",
|
| 94 |
+
"missing_camera": 0,
|
| 95 |
+
"missing_fraction": 0.0,
|
| 96 |
+
"pre_roll_ns": 16666667,
|
| 97 |
+
"residual_median_s": 0.011678856,
|
| 98 |
+
"residual_p95_s": 0.038382696,
|
| 99 |
+
"samples_after_trim": 1030,
|
| 100 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 101 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 102 |
+
"total_slots": 465,
|
| 103 |
+
"trimmed_before_t0": 26356
|
| 104 |
+
},
|
| 105 |
+
"observation.images.front_stereo": {
|
| 106 |
+
"held_camera": 187,
|
| 107 |
+
"held_slots": 187,
|
| 108 |
+
"imu_cached": true,
|
| 109 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet",
|
| 110 |
+
"missing_camera": 0,
|
| 111 |
+
"missing_fraction": 0.0,
|
| 112 |
+
"pre_roll_ns": 16666667,
|
| 113 |
+
"residual_median_s": 0.011353648,
|
| 114 |
+
"residual_p95_s": 0.05799134399999925,
|
| 115 |
+
"samples_after_trim": 1030,
|
| 116 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 117 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 118 |
+
"total_slots": 465,
|
| 119 |
+
"trimmed_before_t0": 26347
|
| 120 |
+
},
|
| 121 |
+
"observation.images.left_stereo": {
|
| 122 |
+
"held_camera": 195,
|
| 123 |
+
"held_slots": 195,
|
| 124 |
+
"imu_cached": true,
|
| 125 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet",
|
| 126 |
+
"missing_camera": 0,
|
| 127 |
+
"missing_fraction": 0.0,
|
| 128 |
+
"pre_roll_ns": 16666667,
|
| 129 |
+
"residual_median_s": 0.011380144,
|
| 130 |
+
"residual_p95_s": 0.061389696,
|
| 131 |
+
"samples_after_trim": 1032,
|
| 132 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 133 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 134 |
+
"total_slots": 465,
|
| 135 |
+
"trimmed_before_t0": 26348
|
| 136 |
+
},
|
| 137 |
+
"observation.images.wrist_stereo": {
|
| 138 |
+
"held_camera": 187,
|
| 139 |
+
"held_slots": 187,
|
| 140 |
+
"imu_cached": true,
|
| 141 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet",
|
| 142 |
+
"missing_camera": 0,
|
| 143 |
+
"missing_fraction": 0.0,
|
| 144 |
+
"pre_roll_ns": 16666667,
|
| 145 |
+
"residual_median_s": 0.011696104,
|
| 146 |
+
"residual_p95_s": 0.0549872448,
|
| 147 |
+
"samples_after_trim": 1030,
|
| 148 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 149 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 150 |
+
"total_slots": 465,
|
| 151 |
+
"trimmed_before_t0": 26350
|
| 152 |
+
}
|
| 153 |
+
},
|
| 154 |
+
"fps": 30.0,
|
| 155 |
+
"frame_times_s": {
|
| 156 |
+
"count": 465,
|
| 157 |
+
"first": 1786064158.084569,
|
| 158 |
+
"last": 1786064173.984569,
|
| 159 |
+
"spliced": true
|
| 160 |
+
},
|
| 161 |
+
"imu_dir": "imu",
|
| 162 |
+
"jetson_folder": "take_e246d0fc",
|
| 163 |
+
"n_frames": 465,
|
| 164 |
+
"record_ack_wall_s": 1786064158.084569,
|
| 165 |
+
"session": {
|
| 166 |
+
"clip_index": 33,
|
| 167 |
+
"n_clips": 34,
|
| 168 |
+
"segments": [
|
| 169 |
+
[
|
| 170 |
+
40614,
|
| 171 |
+
40770
|
| 172 |
+
],
|
| 173 |
+
[
|
| 174 |
+
40783,
|
| 175 |
+
41092
|
| 176 |
+
]
|
| 177 |
+
],
|
| 178 |
+
"take_id": "e246d0fc",
|
| 179 |
+
"window": [
|
| 180 |
+
40598,
|
| 181 |
+
41092
|
| 182 |
+
]
|
| 183 |
+
},
|
| 184 |
+
"spliced": true,
|
| 185 |
+
"t0_image_ns": 1718751123761467392,
|
| 186 |
+
"timesync": {
|
| 187 |
+
"offset_s": -67313034.32310146,
|
| 188 |
+
"rtt_s": 0.001900413,
|
| 189 |
+
"uncertainty_s": 0.000896799
|
| 190 |
+
}
|
| 191 |
+
},
|
| 192 |
+
"trajectory_alignment": {
|
| 193 |
+
"clamped_frames": 0,
|
| 194 |
+
"fps": 30.0,
|
| 195 |
+
"frames": 465,
|
| 196 |
+
"gap_max_s": 0.012548446655273438,
|
| 197 |
+
"gap_median_s": 0.005844831466674805,
|
| 198 |
+
"gap_p95_s": 0.007665061950683593,
|
| 199 |
+
"query_span_s": [
|
| 200 |
+
1786064158.084569,
|
| 201 |
+
1786064173.984569
|
| 202 |
+
],
|
| 203 |
+
"seams": null,
|
| 204 |
+
"sidecar_samples": 779,
|
| 205 |
+
"sidecar_span_s": [
|
| 206 |
+
1786064158.0638916,
|
| 207 |
+
1786064174.0252585
|
| 208 |
+
],
|
| 209 |
+
"spliced": true
|
| 210 |
+
},
|
| 211 |
+
"updated_at": 1786411262.7014387,
|
| 212 |
+
"video_files": {
|
| 213 |
+
"observation.images.agent_stereo": {
|
| 214 |
+
"staged": "videos/observation.images.agent_stereo.mp4",
|
| 215 |
+
"stats": null
|
| 216 |
+
},
|
| 217 |
+
"observation.images.front_stereo": {
|
| 218 |
+
"staged": "videos/observation.images.front_stereo.mp4",
|
| 219 |
+
"stats": null
|
| 220 |
+
},
|
| 221 |
+
"observation.images.left_stereo": {
|
| 222 |
+
"staged": "videos/observation.images.left_stereo.mp4",
|
| 223 |
+
"stats": null
|
| 224 |
+
},
|
| 225 |
+
"observation.images.wrist_stereo": {
|
| 226 |
+
"staged": "videos/observation.images.wrist_stereo.mp4",
|
| 227 |
+
"stats": null
|
| 228 |
+
}
|
| 229 |
+
}
|
| 230 |
+
}
|
.recording_staging/_committed/episode-000022-1de2ae1f/timing.json
ADDED
|
@@ -0,0 +1,124 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"cameras": {
|
| 3 |
+
"observation.images.wrist_stereo": {
|
| 4 |
+
"missing_camera": 0,
|
| 5 |
+
"held_camera": 187,
|
| 6 |
+
"total_slots": 465,
|
| 7 |
+
"missing_fraction": 0.0,
|
| 8 |
+
"residual_median_s": 0.011696104,
|
| 9 |
+
"residual_p95_s": 0.0549872448,
|
| 10 |
+
"held_slots": 187,
|
| 11 |
+
"trimmed_before_t0": 26350,
|
| 12 |
+
"pre_roll_ns": 16666667,
|
| 13 |
+
"samples_after_trim": 1030,
|
| 14 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.svo2",
|
| 15 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_57349359.timestamps.jsonl",
|
| 16 |
+
"imu_cached": true,
|
| 17 |
+
"imu_parquet": "imu/observation.images.wrist_stereo.parquet"
|
| 18 |
+
},
|
| 19 |
+
"observation.images.agent_stereo": {
|
| 20 |
+
"missing_camera": 0,
|
| 21 |
+
"held_camera": 187,
|
| 22 |
+
"total_slots": 465,
|
| 23 |
+
"missing_fraction": 0.0,
|
| 24 |
+
"residual_median_s": 0.011678856,
|
| 25 |
+
"residual_p95_s": 0.038382696,
|
| 26 |
+
"held_slots": 187,
|
| 27 |
+
"trimmed_before_t0": 26356,
|
| 28 |
+
"pre_roll_ns": 16666667,
|
| 29 |
+
"samples_after_trim": 1030,
|
| 30 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.svo2",
|
| 31 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_45497847.timestamps.jsonl",
|
| 32 |
+
"imu_cached": true,
|
| 33 |
+
"imu_parquet": "imu/observation.images.agent_stereo.parquet"
|
| 34 |
+
},
|
| 35 |
+
"observation.images.left_stereo": {
|
| 36 |
+
"missing_camera": 0,
|
| 37 |
+
"held_camera": 195,
|
| 38 |
+
"total_slots": 465,
|
| 39 |
+
"missing_fraction": 0.0,
|
| 40 |
+
"residual_median_s": 0.011380144,
|
| 41 |
+
"residual_p95_s": 0.061389696,
|
| 42 |
+
"held_slots": 195,
|
| 43 |
+
"trimmed_before_t0": 26348,
|
| 44 |
+
"pre_roll_ns": 16666667,
|
| 45 |
+
"samples_after_trim": 1032,
|
| 46 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.svo2",
|
| 47 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_48120998.timestamps.jsonl",
|
| 48 |
+
"imu_cached": true,
|
| 49 |
+
"imu_parquet": "imu/observation.images.left_stereo.parquet"
|
| 50 |
+
},
|
| 51 |
+
"observation.images.front_stereo": {
|
| 52 |
+
"missing_camera": 0,
|
| 53 |
+
"held_camera": 187,
|
| 54 |
+
"total_slots": 465,
|
| 55 |
+
"missing_fraction": 0.0,
|
| 56 |
+
"residual_median_s": 0.011353648,
|
| 57 |
+
"residual_p95_s": 0.05799134399999925,
|
| 58 |
+
"held_slots": 187,
|
| 59 |
+
"trimmed_before_t0": 26347,
|
| 60 |
+
"pre_roll_ns": 16666667,
|
| 61 |
+
"samples_after_trim": 1030,
|
| 62 |
+
"svo": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.svo2",
|
| 63 |
+
"timestamps": "/home/aira/.cache/huggingface/lerobot/cong-lab/robot_error_fail_wrong_rack/.recording_staging/session-20260806-162856/continuous-e246d0fc/jetson_pull/cam_59559558.timestamps.jsonl",
|
| 64 |
+
"imu_cached": true,
|
| 65 |
+
"imu_parquet": "imu/observation.images.front_stereo.parquet"
|
| 66 |
+
}
|
| 67 |
+
},
|
| 68 |
+
"fps": 30.0,
|
| 69 |
+
"n_frames": 465,
|
| 70 |
+
"t0_image_ns": 1718751123761467392,
|
| 71 |
+
"spliced": true,
|
| 72 |
+
"imu_dir": "imu",
|
| 73 |
+
"timesync": {
|
| 74 |
+
"offset_s": -67313034.32310146,
|
| 75 |
+
"rtt_s": 0.001900413,
|
| 76 |
+
"uncertainty_s": 0.000896799
|
| 77 |
+
},
|
| 78 |
+
"record_ack_wall_s": 1786064158.084569,
|
| 79 |
+
"jetson_folder": "take_e246d0fc",
|
| 80 |
+
"session": {
|
| 81 |
+
"take_id": "e246d0fc",
|
| 82 |
+
"clip_index": 33,
|
| 83 |
+
"n_clips": 34,
|
| 84 |
+
"segments": [
|
| 85 |
+
[
|
| 86 |
+
40614,
|
| 87 |
+
40770
|
| 88 |
+
],
|
| 89 |
+
[
|
| 90 |
+
40783,
|
| 91 |
+
41092
|
| 92 |
+
]
|
| 93 |
+
],
|
| 94 |
+
"window": [
|
| 95 |
+
40598,
|
| 96 |
+
41092
|
| 97 |
+
]
|
| 98 |
+
},
|
| 99 |
+
"frame_times_s": {
|
| 100 |
+
"first": 1786064158.084569,
|
| 101 |
+
"last": 1786064173.984569,
|
| 102 |
+
"count": 465,
|
| 103 |
+
"spliced": true
|
| 104 |
+
},
|
| 105 |
+
"trajectory_alignment": {
|
| 106 |
+
"frames": 465,
|
| 107 |
+
"fps": 30.0,
|
| 108 |
+
"spliced": true,
|
| 109 |
+
"sidecar_samples": 779,
|
| 110 |
+
"sidecar_span_s": [
|
| 111 |
+
1786064158.0638916,
|
| 112 |
+
1786064174.0252585
|
| 113 |
+
],
|
| 114 |
+
"query_span_s": [
|
| 115 |
+
1786064158.084569,
|
| 116 |
+
1786064173.984569
|
| 117 |
+
],
|
| 118 |
+
"clamped_frames": 0,
|
| 119 |
+
"gap_median_s": 0.005844831466674805,
|
| 120 |
+
"gap_p95_s": 0.007665061950683593,
|
| 121 |
+
"gap_max_s": 0.012548446655273438,
|
| 122 |
+
"seams": null
|
| 123 |
+
}
|
| 124 |
+
}
|