| { | |
| "tasks": { | |
| "motherboard": { | |
| "language": "Bimanual manipulation of components on a computer motherboard.", | |
| "purpose": "Dense, contact-rich, synchronized multimodal interaction data for tactile-visual dynamics / world-model learning. Not a policy-learning / demonstration dataset.", | |
| "operator": "human hands (handheld GelSight Mini sensors with motion-capture rigid bodies; no robot arm involved)", | |
| "embodiment": "human", | |
| "dates": [ | |
| "2026-05-10", | |
| "2026-05-11" | |
| ], | |
| "per_date_notes": { | |
| "2026-05-10": { | |
| "kind": "session", | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ], | |
| "note": "First full bimanual recording session." | |
| }, | |
| "2026-05-11": { | |
| "kind": "session", | |
| "active_sensors": [ | |
| "left", | |
| "right" | |
| ], | |
| "note": "Largest session. 3 episodes had OptiTrack offline at recording start (ep_005/012/017); those prefixes (~17 min total) have been trimmed from the published .pt files \u2014 see `trim_offsets` and `_contact_meta.trim_offset` per .pt. Mid-episode flagged frames: 9 of 15 files have \u2265 1 flagged frame (intensity spike, pose teleport, or ot_loss) \u2014 see bad_frames.json." | |
| } | |
| }, | |
| "n_episode_files": 27, | |
| "notes": "2026-05-11/episode_001 was lost at recording time (HDF5 superblock not finalized). 2026-05-11/episodes 000 and 002 were short test recordings with no tactile contact and were dropped.", | |
| "trim_offsets": { | |
| "2026-05-11/episode_005": 2429, | |
| "2026-05-11/episode_012": 9719, | |
| "2026-05-11/episode_017": 19228 | |
| }, | |
| "trim_note": "Per-episode prefix that has already been cut from the published .pt. Episodes not listed have trim_offset = 0 (no trim needed)." | |
| } | |
| }, | |
| "schema_version": "mode1_v1", | |
| "layout": "processed/mode1_v1/<task>/<date>/episode_*.{pt,contact.json}" | |
| } |