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CSV schemas

CLI monitor​

host,schema_version,elapsed_seconds,rdt_sequence,ft_sequence,status,
raw_fx,raw_fy,raw_fz,raw_tx,raw_ty,raw_tz,
fx,fy,fz,tx,ty,tz,force_unit,torque_unit,receive_rate_hz,
lost_count,duplicate_count,out_of_order_count,state

Monitor CSV is observation output. Its bounded presentation rate can be lower than the native receive rate.

CLI recording​

schema_version,timestamp_utc,elapsed_seconds,rdt_sequence,ft_sequence,status,
raw_fx,raw_fy,raw_fz,raw_tx,raw_ty,raw_tz,
fx,fy,fz,tx,ty,tz,force_unit,torque_unit

timestamp_utc is for cross-system correlation. elapsed_seconds is the monotonic capture timeline and should be used for interval analysis.

Viewer recording​

host_receive_timestamp_ns,elapsed_recording_time_ns,
rdt_sequence,ft_sequence,status,configuration_revision,
raw_fx,raw_fy,raw_fz,raw_tx,raw_ty,raw_tz,
force_x,force_y,force_z,torque_x,torque_y,torque_z,
force_unit,torque_unit

host_receive_timestamp_ns uses the system clock. elapsed_recording_time_ns is monotonic from recording start. Configuration revision and unit columns keep calibration changes visible across reconnects.

CLI and Viewer recorders write a temporary .partial file and promote it only after a clean queue drain and flush. A partial file is not proof of a complete capture.