Trim OT-uninitialized prefixes from 3 .pt files (ep_005/012/017 — see `_contact_meta.trim_offset`); recompute bad_frames + data_quality_breakdown in trimmed coords; ot_loss frame count now reflects real mid-episode mocap dropout only. Recorder-side OT watchdog added to data_collection.py (in twm repo) so future episodes won't repeat the bug.
53f7fe6 verified | { | |
| "total_frames": 190231, | |
| "n_episodes": 27, | |
| "modes": { | |
| "gelsight_led_flicker": { | |
| "frames": 56, | |
| "pct": 0.029437893928960054, | |
| "episodes_affected": [ | |
| "2026-05-11/episode_003", | |
| "2026-05-11/episode_007", | |
| "2026-05-11/episode_008", | |
| "2026-05-11/episode_011", | |
| "2026-05-11/episode_017" | |
| ] | |
| }, | |
| "pose_teleport": { | |
| "frames": 56, | |
| "pct": 0.029437893928960054, | |
| "episodes_affected": [ | |
| "2026-05-10/episode_001", | |
| "2026-05-10/episode_002", | |
| "2026-05-11/episode_015" | |
| ] | |
| }, | |
| "ot_loss": { | |
| "frames": 1680, | |
| "pct": 0.8831368178688016, | |
| "freeze_threshold_s": 0.25, | |
| "trans_teleport_mps": 5.0, | |
| "ang_teleport_rad_per_s": 15.0, | |
| "opt_gap_s": 0.1, | |
| "episodes_affected": [ | |
| "2026-05-10/episode_001", | |
| "2026-05-11/episode_005", | |
| "2026-05-11/episode_013", | |
| "2026-05-11/episode_014", | |
| "2026-05-11/episode_015", | |
| "2026-05-11/episode_016" | |
| ], | |
| "note": "OptiTrack lost the rigid body mid-episode (recorder kept emitting the held pose). The huge start-of-episode prefixes that previously dominated this number (ep_005/012/017) have been TRIMMED out of the .pt files \u2014 what remains is real mid-episode mocap dropout." | |
| } | |
| } | |
| } |