| # Schema |
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| Layout of each per-episode `.pt` file in the published `episodes/` slice (and analogously each per-segment `.pt` in `segments/`). Hardware/recording details are in [`recording.md`](recording.md). |
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| ## `.pt` fields |
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| Each `episode_*.pt` is a Python dict loadable with `torch.load(..., weights_only=False)`. |
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| | Key | Shape | dtype | Description | |
| |---|---|---|---| |
| | `tactile_left` | `(T, 3, 128, 128)` | uint8 | Left GelSight, same crop/resize | |
| | `tactile_right` | `(T, 3, 128, 128)` | uint8 | Right GelSight, same crop/resize | |
| | `timestamps` | `(T,)` | float64 | Camera timestamps (seconds, monotonic clock) | |
| | `sensor_left_pose` | `(T, 7)` | float32 | Left GelSight rigid body OptiTrack pose, nearest-neighbor aligned to camera timestamps | |
| | `sensor_right_pose` | `(T, 7)` | float32 | Right GelSight rigid body OptiTrack pose, same alignment | |
| | `tactile_{left,right}_intensity` | `(T,)` | float32 | Per-frame mean per-pixel L2 distance from a contact-free reference frame | |
| | `tactile_{left,right}_area` | `(T,)` | float32 | Per-frame fraction of pixels with L2 diff > `tau` | |
| | `tactile_{left,right}_mixed` | `(T,)` | float32 | Mean of (diff × mask) — intensity restricted to contact pixels | |
| | `_contact_meta` | dict | — | Per-episode contact metadata: `tau`, drift, p01 reference indices, the chosen reference RGB frames | |
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| Each `.contact.json` next to the `.pt` is a small summary of the metric distributions plus drift diagnostics — useful for filtering / sanity checking without loading the full tensors. |
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| ## Contact metric definition |
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| For each tactile sensor independently: |
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| 1. Pick a **contact-free reference frame** — the ~0.1th-percentile-quietest frame by mean L2 distance to the temporal median (`reference_strategy = "p01"`). |
| 2. For each frame `t`, compute the per-pixel `diff[t, x, y] = || frame[t, :, x, y] − ref[:, x, y] ||_2` (RGB L2 over channels). |
| 3. Then: |
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| - `intensity[t] = mean(diff[t])` |
| - `area[t] = mean(diff[t] > tau)` (default `tau = 8.0` on the uint8 scale) |
| - `mixed[t] = mean(diff[t] · (diff[t] > tau))` |
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| `_contact_meta["drift_warning"]` is `True` when either sensor's drift (L2 distance between the first frame and the p01 reference) exceeds `2 · tau`; in this release no episode triggers it. |
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| ## Pose conventions |
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| - Position is in **meters** in OptiTrack room coordinates. |
| - Quaternion follows `(qx, qy, qz, qw)` ordering (scalar last). |
| - To project sensor positions into a camera image, compose `sensor_pose → T_mocap_to_cam → camera intrinsics`. The recording-side calibration files (`T_mocap_to_cam_*.json` and `T_gel_to_rigid_*.json`) are referenced in [`recording.md`](recording.md). |
| ## Multi-cam fields (all sessions) |
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| Newer sessions ship all three RealSense views per episode/segment in BGR channel order (matching what `cv2.imshow` expects). Each is built from the raw 480×640 H5 stream by center-cropping columns to 480×480 and `cv2.resize`-ing to 128×128 with `INTER_AREA` — verified bit-for-bit against the legacy single-cam `view` recipe. |
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| | Key | Shape | dtype | Source H5 dataset | Physical camera | |
| |---|---|---|---|---| |
| | `view_left` | `(T, 3, 128, 128)` | uint8 (BGR) | `realsense/cam1/color` | Left RealSense (serial 104122062574) | |
| | `view_middle` | `(T, 3, 128, 128)` | uint8 (BGR) | `realsense/cam2/color` | Middle RealSense (serial 217222066989) | |
| | `view_right` | `(T, 3, 128, 128)` | uint8 (BGR) | `realsense/cam0/color` | Right RealSense (serial 143322063538) — historical `view` | |
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| The legacy single-cam `view` field is equivalent to `view_right`. All published sessions ship this multi-cam layout. |
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