{ "schemaVersion": 1, "version": "0.1.0", "released": "2026-08-10", "title": "Robot Battery and Actuator Telemetry: Two 4.3-Hour Traces, One Unloaded Boundary", "canonical": "https://robotcomponentindex.com/research/robot-battery-actuator-telemetry-audit/", "source": { "title": "RoboBATT: Multirate Robot Battery and Actuator Telemetry Traces", "recordUrl": "https://zenodo.org/records/21853137", "apiUrl": "https://zenodo.org/api/records/21853137", "versionDoi": "10.5281/zenodo.21853137", "conceptDoi": "10.5281/zenodo.21853136", "sourceVersion": "v1.0.0", "publicationDate": "2026-08-08", "creators": [ { "name": "Guo, Feng", "orcid": "0000-0002-5141-8672", "affiliation": "Flemish Institute for Technological Research" }, { "name": "Liu, Hongxing", "affiliation": "Southwest Jiaotong University" } ], "archiveAnalyzed": "robobatt_10hz_release_v1.0.0.zip", "archiveBytes": 185123569, "archiveSha256": "f3b98405f9689f35a740da38a7f6626416328d68dc1c040bf01fee14cf94de1a", "archiveMd5FromZenodo": "e0c2fe1cbf504e561601615034049549", "upstreamDataLicense": "CC BY 4.0", "upstreamDataLicenseUrl": "https://creativecommons.org/licenses/by/4.0/", "upstreamCodeLicense": "MIT", "verifiedDate": "2026-08-10" }, "integrity": { "manifestRecordCount": 138, "actualFileCount": 141, "missing": [], "sizeMismatches": [], "hashMismatches": [], "unlistedFiles": [ "metadata/file_manifest_sha256.csv", "metadata/public_release_validation.json", "metadata/validation_report.json" ], "allListedFilesPass": true }, "verification": { "upstreamValidatorRerun": { "command": "python code/validate_public_release.py --dataset-root .", "allChecksPass": true, "runtime": { "python": "3.12.13", "pandas": "2.2.3", "numpy": "2.3.5" }, "boundary": "This confirms that the deposited package reproduces its own validation contract; it is not the RCI analysis result." }, "rciIndependentRecomputation": { "manifestHashesRecomputed": true, "batteryAggregatesRecomputedFromPublicTenHertzTables": true, "motionAggregatesRecomputedFromPublicLatestMessageTables": true, "upstreamDerivedSummaryTablesUsedAsNumericInputs": false, "declaredCleanWindowTimestampsReused": true } }, "analysisBoundary": { "input": "Public RoboBATT 10 Hz convenience release only; native HDF5 streams were not downloaded or analyzed.", "windowSelection": "The upstream fixed clean-analysis start/end timestamps are reused as declared boundaries; every aggregate is recomputed by RCI from the public battery and latest-message joint/chassis tables.", "sampling": "Ten hertz is the configured controller polling/recording cadence and public grid, not evidence of internal BMS sensing bandwidth.", "calibration": "No independent voltage, current, SOC, temperature or actuator-channel calibration record is present.", "payload": "Both traces are unloaded scripted operation. Results do not represent payload capacity, dynamic task efficiency, battery life, ageing or production duty cycles.", "causality": "Battery-current and motion metrics are descriptive associations on a shared grid, not causal energy attribution to joints." }, "sourceContext": { "robotManufacturer": "AGIBOT Innovation (Shanghai) Technology Co., Ltd.", "robotModel": "G2 Pro", "robotModelEvidence": "operator-provided for both traces", "physicalRobotContinuityAcrossConditions": "unknown", "batteryChemistry": "lithium iron phosphate (LFP)", "batteryConfigurationPerCondition": "two 48 V, 17 Ah packs in simple parallel", "batteryConfigurationEvidence": "operator-provided test metadata", "batteryPackManufacturerModel": "unknown", "bmsManufacturerModel": "unknown", "externalVoltageCurrentReference": "none documented", "ambientConditions": "unknown", "conditionAPayload": "no object in either hand", "conditionBPayload": "no external payload" }, "conditionCount": 2, "combinedCleanRepresentedHours": 8.630472, "combinedCleanBmsRows": 310697, "conditions": [ { "conditionId": "A", "conditionLabel": "unloaded repetitive counter-phase dual-arm motion", "declaredCleanWindow": { "startUtc": "2026-06-03T02:51:23.200000+00:00", "endUtc": "2026-06-03T07:11:15.500000+00:00", "upstreamDeclaredRowCount": 155924 }, "fullBatteryRecord": { "rowCount": 162077, "startUtc": "2026-06-03T02:46:26+00:00", "endUtc": "2026-06-03T07:16:33.600000+00:00", "spanHoursBetweenFirstAndLastBin": 4.502111111, "representedHoursAtPointOneSecondPerRow": 4.502138889, "strictTenHertzGrid": true, "nonPointOneSecondGapCount": 0, "minimumDeltaSeconds": 0.1, "maximumDeltaSeconds": 0.1, "missingBmsRows": 1, "observedBmsRows": 162076 }, "cleanBatteryRecord": { "rowCount": 155924, "startUtc": "2026-06-03T02:51:23.200000+00:00", "endUtc": "2026-06-03T07:11:15.500000+00:00", "spanHoursBetweenFirstAndLastBin": 4.331194444, "representedHoursAtPointOneSecondPerRow": 4.331222222, "strictTenHertzGrid": true, "nonPointOneSecondGapCount": 0, "minimumDeltaSeconds": 0.1, "maximumDeltaSeconds": 0.1, "declaredRowCountMatches": true, "missingBmsRows": 0, "observedBmsRows": 155924, "retainedStateAgeMedianSeconds": 1.8, "retainedStateAgeP95Seconds": 3.9, "retainedStateAgeMaximumSeconds": 17.4, "rowsWithRetainedStateAgeOverOneSecond": 109751, "rowsWithRetainedStateAgeOverOneSecondPercent": 70.387496, "stateAgeBoundary": "State age is time since the first public 10 Hz row carrying the same retained BMS field state. It is not BMS response latency, update age or sensing bandwidth.", "currentOnPointOneAmpereGrid": true, "observedPackCurrentIncrementA": 0.1, "voltageOnPointFiveVoltGrid": true, "observedPackVoltageIncrementV": 0.5, "maximumPackSumErrorA": 0, "packCurrentPairTransitionCount": 4238, "consecutiveRowsWithUnchangedPackCurrentPairPercent": 97.281992, "packCurrentPairRunMedianSeconds": 3.5, "packCurrentPairRunP95Seconds": 7, "packCurrentPairRunMaximumSeconds": 17.5, "currentRunBoundary": "Runs use exact equality of the two stored pack-current fields. Repetition can reflect reporting quantization and unchanged values; it does not prove that the BMS stopped sensing or communicating." }, "currentAndEnergy": { "meanTotalCurrentA": 6.964825, "medianTotalCurrentA": 6.7, "p95TotalCurrentA": 9.6, "maximumTotalCurrentA": 15.1, "positiveTotalCurrentFraction": 0.999993587, "chargeThroughputAh": 30.166206, "bmsFieldProductEnergyWh": 1461.967537, "energyBoundary": "The Wh value is an RCI integral of paired BMS-reported pack voltage and current fields, not an independently calibrated energy measurement." }, "packEndpoints": { "pack0": { "socStartPercent": 100, "socEndPercent": 0, "voltageStartV": 50, "voltageEndV": 46.5, "temperatureStartC": 34, "temperatureEndC": 36, "temperatureMinimumC": 34, "temperatureMaximumC": 36, "bmsReportedSohPercent": 92 }, "pack1": { "socStartPercent": 100, "socEndPercent": 7.6, "voltageStartV": 50, "voltageEndV": 47, "temperatureStartC": 33, "temperatureEndC": 35, "temperatureMinimumC": 33, "temperatureMaximumC": 35, "bmsReportedSohPercent": 93 }, "identityBoundary": "Pack indices are local array positions. Physical pack continuity across the two conditions is unknown, so cross-condition SOH values are not an ageing trend." }, "motionAssociation": { "activityDefinition": "sum of absolute 100 ms joint-position changes across channels whose p01-to-p99 clean-window position range is at least 0.05 rad, divided by 0.1 s; then averaged into complete one-second bins", "activeJointChannelRangeStatistic": "p99 minus p01 within the declared clean window", "activeJointChannelThresholdRad": 0.05, "activeJointChannelCount": 14, "activeJointChannels": [ "position_rad_08", "position_rad_09", "position_rad_10", "position_rad_11", "position_rad_12", "position_rad_13", "position_rad_14", "position_rad_15", "position_rad_16", "position_rad_17", "position_rad_18", "position_rad_19", "position_rad_20", "position_rad_21" ], "jointRowsInCleanWindow": 155924, "jointMissingBinRows": 0, "alignedPointOneSecondRows": 155924, "completeOneSecondBinCount": 15591, "activityP25RadPerSecond": 4.210708, "activityP75RadPerSecond": 7.041014, "lowActivitySecondCount": 3898, "highActivitySecondCount": 3898, "lowActivityMeanCurrentA": 6.847414, "highActivityMeanCurrentA": 7.055357, "highMinusLowMeanCurrentA": 0.207943, "highVsLowMeanCurrentPercent": 3.036804, "sameSecondPearson": 0.095021, "sameSecondSpearman": 0.039157, "withinMinuteDemeanedPearson": 0.000017, "withinMinuteComparisonCount": 259, "withinMinuteHighMinusLowMeanCurrentMedianA": -0.034667, "withinMinuteHighMinusLowMeanCurrentP25A": -0.16, "withinMinuteHighMinusLowMeanCurrentP75A": 0.097, "interpretation": "Descriptive same-clock association only. It does not identify causal actuator energy, compensate for current-response latency, or separate motion from controllers, compute, fans, sensors and other loads.", "activeChannelThresholdSensitivity": [ { "activeJointChannelThresholdRad": 0.01, "activeJointChannelCount": 14, "highMinusLowMeanCurrentA": 0.207943, "sameSecondPearson": 0.095021, "withinMinuteDemeanedPearson": 0.000017, "withinMinuteHighMinusLowMeanCurrentMedianA": -0.034667 }, { "activeJointChannelThresholdRad": 0.05, "activeJointChannelCount": 14, "highMinusLowMeanCurrentA": 0.207943, "sameSecondPearson": 0.095021, "withinMinuteDemeanedPearson": 0.000017, "withinMinuteHighMinusLowMeanCurrentMedianA": -0.034667 }, { "activeJointChannelThresholdRad": 0.1, "activeJointChannelCount": 14, "highMinusLowMeanCurrentA": 0.207943, "sameSecondPearson": 0.095021, "withinMinuteDemeanedPearson": 0.000017, "withinMinuteHighMinusLowMeanCurrentMedianA": -0.034667 } ] }, "chassisTelemetry": null, "sourceFiles": { "condition_a_repetitive_dual_arm/battery_bms_10hz_zoh.csv.gz": { "bytes": 1558452, "sha256": "5bdc5ec6259c445f1e2d6b5d9be7c5e57bd3d307dc55ecdc100d99b5df265574" }, "condition_a_repetitive_dual_arm/joint_state_10hz_last_message.csv.gz": { "bytes": 94323818, "sha256": "06dd9ffc83f528de52a170bddc96638ceb062b97ad33db2441ef48c19d8eda30" } } }, { "conditionId": "B", "conditionLabel": "unloaded repeated multijoint motion with chassis telemetry", "declaredCleanWindow": { "startUtc": "2026-06-08T05:34:21.200000+00:00", "endUtc": "2026-06-08T09:52:18.400000+00:00", "upstreamDeclaredRowCount": 154773 }, "fullBatteryRecord": { "rowCount": 156614, "startUtc": "2026-06-08T05:32:53.600000+00:00", "endUtc": "2026-06-08T09:53:54.900000+00:00", "spanHoursBetweenFirstAndLastBin": 4.350361111, "representedHoursAtPointOneSecondPerRow": 4.350388889, "strictTenHertzGrid": true, "nonPointOneSecondGapCount": 0, "minimumDeltaSeconds": 0.1, "maximumDeltaSeconds": 0.1, "missingBmsRows": 1, "observedBmsRows": 156613 }, "cleanBatteryRecord": { "rowCount": 154773, "startUtc": "2026-06-08T05:34:21.200000+00:00", "endUtc": "2026-06-08T09:52:18.400000+00:00", "spanHoursBetweenFirstAndLastBin": 4.299222222, "representedHoursAtPointOneSecondPerRow": 4.29925, "strictTenHertzGrid": true, "nonPointOneSecondGapCount": 0, "minimumDeltaSeconds": 0.1, "maximumDeltaSeconds": 0.1, "declaredRowCountMatches": true, "missingBmsRows": 0, "observedBmsRows": 154773, "retainedStateAgeMedianSeconds": 1.8, "retainedStateAgeP95Seconds": 5.1, "retainedStateAgeMaximumSeconds": 14, "rowsWithRetainedStateAgeOverOneSecond": 107486, "rowsWithRetainedStateAgeOverOneSecondPercent": 69.447513, "stateAgeBoundary": "State age is time since the first public 10 Hz row carrying the same retained BMS field state. It is not BMS response latency, update age or sensing bandwidth.", "currentOnPointOneAmpereGrid": true, "observedPackCurrentIncrementA": 0.1, "voltageOnPointFiveVoltGrid": true, "observedPackVoltageIncrementV": 0.5, "maximumPackSumErrorA": 0, "packCurrentPairTransitionCount": 4038, "consecutiveRowsWithUnchangedPackCurrentPairPercent": 97.391001, "packCurrentPairRunMedianSeconds": 3.5, "packCurrentPairRunP95Seconds": 7, "packCurrentPairRunMaximumSeconds": 14.1, "currentRunBoundary": "Runs use exact equality of the two stored pack-current fields. Repetition can reflect reporting quantization and unchanged values; it does not prove that the BMS stopped sensing or communicating." }, "currentAndEnergy": { "meanTotalCurrentA": 7.149466, "medianTotalCurrentA": 6.5, "p95TotalCurrentA": 10.7, "maximumTotalCurrentA": 16.5, "positiveTotalCurrentFraction": 0.999541264, "chargeThroughputAh": 30.737342, "bmsFieldProductEnergyWh": 1487.78462, "energyBoundary": "The Wh value is an RCI integral of paired BMS-reported pack voltage and current fields, not an independently calibrated energy measurement." }, "packEndpoints": { "pack0": { "socStartPercent": 100, "socEndPercent": 2, "voltageStartV": 50, "voltageEndV": 47, "temperatureStartC": 33, "temperatureEndC": 33, "temperatureMinimumC": 32, "temperatureMaximumC": 33, "bmsReportedSohPercent": 94 }, "pack1": { "socStartPercent": 97.6, "socEndPercent": 0, "voltageStartV": 50, "voltageEndV": 47, "temperatureStartC": 33, "temperatureEndC": 34, "temperatureMinimumC": 32, "temperatureMaximumC": 34, "bmsReportedSohPercent": 94 }, "identityBoundary": "Pack indices are local array positions. Physical pack continuity across the two conditions is unknown, so cross-condition SOH values are not an ageing trend." }, "motionAssociation": { "activityDefinition": "sum of absolute 100 ms joint-position changes across channels whose p01-to-p99 clean-window position range is at least 0.05 rad, divided by 0.1 s; then averaged into complete one-second bins", "activeJointChannelRangeStatistic": "p99 minus p01 within the declared clean window", "activeJointChannelThresholdRad": 0.05, "activeJointChannelCount": 19, "activeJointChannels": [ "position_rad_00", "position_rad_01", "position_rad_02", "position_rad_03", "position_rad_04", "position_rad_08", "position_rad_09", "position_rad_10", "position_rad_11", "position_rad_12", "position_rad_13", "position_rad_14", "position_rad_15", "position_rad_16", "position_rad_17", "position_rad_18", "position_rad_19", "position_rad_20", "position_rad_21" ], "jointRowsInCleanWindow": 154773, "jointMissingBinRows": 12, "alignedPointOneSecondRows": 154773, "completeOneSecondBinCount": 15474, "activityP25RadPerSecond": 0.431278, "activityP75RadPerSecond": 11.461313, "lowActivitySecondCount": 3869, "highActivitySecondCount": 3869, "lowActivityMeanCurrentA": 6.38611, "highActivityMeanCurrentA": 8.172489, "highMinusLowMeanCurrentA": 1.786379, "highVsLowMeanCurrentPercent": 27.97288, "sameSecondPearson": 0.416902, "sameSecondSpearman": 0.462545, "withinMinuteDemeanedPearson": 0.377104, "withinMinuteComparisonCount": 257, "withinMinuteHighMinusLowMeanCurrentMedianA": 1.365333, "withinMinuteHighMinusLowMeanCurrentP25A": 0.666, "withinMinuteHighMinusLowMeanCurrentP75A": 2.25, "interpretation": "Descriptive same-clock association only. It does not identify causal actuator energy, compensate for current-response latency, or separate motion from controllers, compute, fans, sensors and other loads.", "activeChannelThresholdSensitivity": [ { "activeJointChannelThresholdRad": 0.01, "activeJointChannelCount": 19, "highMinusLowMeanCurrentA": 1.786379, "sameSecondPearson": 0.416902, "withinMinuteDemeanedPearson": 0.377104, "withinMinuteHighMinusLowMeanCurrentMedianA": 1.365333 }, { "activeJointChannelThresholdRad": 0.05, "activeJointChannelCount": 19, "highMinusLowMeanCurrentA": 1.786379, "sameSecondPearson": 0.416902, "withinMinuteDemeanedPearson": 0.377104, "withinMinuteHighMinusLowMeanCurrentMedianA": 1.365333 }, { "activeJointChannelThresholdRad": 0.1, "activeJointChannelCount": 18, "highMinusLowMeanCurrentA": 1.786017, "sameSecondPearson": 0.416795, "withinMinuteDemeanedPearson": 0.377051, "withinMinuteHighMinusLowMeanCurrentMedianA": 1.366 } ] }, "chassisTelemetry": { "cleanWindowRowCount": 154773, "missingBinRows": 13, "activeRawPositionChannelThreshold": 0.01, "activeRawPositionChannelCount": 4, "activeRawPositionChannels": [ "position_raw_00", "position_raw_01", "position_raw_02", "position_raw_03" ], "binsWithReportedDuplicateSourceTimestamps": 3146, "reportedDuplicateSourceTimestampCount": 3270, "boundary": "Chassis position fields are retained in source-native raw units and are not added to the radian joint-activity index." }, "sourceFiles": { "condition_b_multijoint_chassis/battery_bms_10hz_zoh.csv.gz": { "bytes": 1512804, "sha256": "5aa83fe092a2993656deba34e56a8b7cf4b983eb91bd6ef690ff49587523e314" }, "condition_b_multijoint_chassis/joint_state_10hz_last_message.csv.gz": { "bytes": 69847326, "sha256": "82c614611b116922d3b1f7bc73bde74c9284f3421193e3b302b6cbb017dd385d" }, "condition_b_multijoint_chassis/chassis_state_10hz_last_message.csv.gz": { "bytes": 7246683, "sha256": "94540e678713fdb1b5d63433b27600e26bee7cd6b5025162e78f10b291061769" } } } ], "method": { "chargeThroughput": "sum(total_output_current_A × 0.1 s) / 3600", "energyProxy": "sum((pack0 current × pack0 voltage + pack1 current × pack1 voltage) × 0.1 s) / 3600", "motionActivity": "sum of absolute 100 ms joint-position changes across channels whose p01-to-p99 clean-window position range is at least 0.05 rad, divided by 0.1 s; then averaged into complete one-second bins", "associationAggregation": "Only complete ten-row one-second bins are used. Global bottom/top activity quartiles and same-second correlations are reported separately from within-minute de-meaned comparisons.", "crossConditionPooling": "None. Conditions are reported independently because physical robot and pack continuity are unverified." }, "suggestedCitation": "Robot Component Index. Robot Battery and Actuator Telemetry: Two 4.3-Hour Traces, One Unloaded Boundary. RCI 025, research dataset v0.1.0, 2026-08-10. https://robotcomponentindex.com/research/robot-battery-actuator-telemetry-audit/" }