| { |
| "schema": "segments_v1", |
| "description": "Each .pt is a contiguous clean segment of a source recording. Bad intervals from bad_frames.json (intensity_spikes, pose_teleports_*, ot_loss_*) are excluded by construction, so a dataloader can iterate windows here without any per-window quality filter. Use `source_h5_frame_range` to map back to the original H5 recording. Each segment includes three RealSense views (`view_left`, `view_middle`, `view_right`) and two GelSight tactile streams (`tactile_left`, `tactile_right`).", |
| "n_source_episodes": 32, |
| "n_segments": 78, |
| "total_frames": 192656, |
| "total_duration_min": 107.03, |
| "median_segment_frames": 1175, |
| "median_segment_s": 39.167, |
| "min_segment_frames_kept": 16, |
| "tactile_threshold_used_for_contact_pct": 0.4, |
| "segments": [ |
| { |
| "path": "segments/motherboard/2026-05-10/episode_000.segment_00.pt", |
| "source_episode": "2026-05-10/episode_000", |
| "source_segment_idx": 0, |
| "n_frames": 6890, |
| "duration_s": 229.667, |
| "source_pt_frame_range": [ |
| 0, |
| 6889 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 6889 |
| ], |
| "contact_pct_left": 47.21, |
| "contact_pct_right": 28.03, |
| "mean_speed_left_mps": 0.2039, |
| "mean_speed_right_mps": 0.1454, |
| "file_size_mb": 1615.62, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_001.segment_00.pt", |
| "source_episode": "2026-05-10/episode_001", |
| "source_segment_idx": 0, |
| "n_frames": 5503, |
| "duration_s": 183.433, |
| "source_pt_frame_range": [ |
| 0, |
| 5502 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 5502 |
| ], |
| "contact_pct_left": 40.76, |
| "contact_pct_right": 23.41, |
| "mean_speed_left_mps": 0.1821, |
| "mean_speed_right_mps": 0.1439, |
| "file_size_mb": 1290.42, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_001.segment_01.pt", |
| "source_episode": "2026-05-10/episode_001", |
| "source_segment_idx": 1, |
| "n_frames": 1548, |
| "duration_s": 51.6, |
| "source_pt_frame_range": [ |
| 5514, |
| 7061 |
| ], |
| "source_h5_frame_range": [ |
| 5514, |
| 7061 |
| ], |
| "contact_pct_left": 42.05, |
| "contact_pct_right": 16.93, |
| "mean_speed_left_mps": 0.2537, |
| "mean_speed_right_mps": 0.17, |
| "file_size_mb": 363.14, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_001.segment_02.pt", |
| "source_episode": "2026-05-10/episode_001", |
| "source_segment_idx": 2, |
| "n_frames": 467, |
| "duration_s": 15.567, |
| "source_pt_frame_range": [ |
| 7154, |
| 7620 |
| ], |
| "source_h5_frame_range": [ |
| 7154, |
| 7620 |
| ], |
| "contact_pct_left": 28.48, |
| "contact_pct_right": 23.55, |
| "mean_speed_left_mps": 0.228, |
| "mean_speed_right_mps": 0.2239, |
| "file_size_mb": 109.69, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_002.segment_00.pt", |
| "source_episode": "2026-05-10/episode_002", |
| "source_segment_idx": 0, |
| "n_frames": 9551, |
| "duration_s": 318.367, |
| "source_pt_frame_range": [ |
| 0, |
| 9550 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 9550 |
| ], |
| "contact_pct_left": 33.49, |
| "contact_pct_right": 26.34, |
| "mean_speed_left_mps": 0.2027, |
| "mean_speed_right_mps": 0.1734, |
| "file_size_mb": 2239.51, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_002.segment_01.pt", |
| "source_episode": "2026-05-10/episode_002", |
| "source_segment_idx": 1, |
| "n_frames": 112, |
| "duration_s": 3.733, |
| "source_pt_frame_range": [ |
| 9559, |
| 9670 |
| ], |
| "source_h5_frame_range": [ |
| 9559, |
| 9670 |
| ], |
| "contact_pct_left": 35.71, |
| "contact_pct_right": 16.96, |
| "mean_speed_left_mps": 0.21, |
| "mean_speed_right_mps": 0.1603, |
| "file_size_mb": 26.45, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_002.segment_02.pt", |
| "source_episode": "2026-05-10/episode_002", |
| "source_segment_idx": 2, |
| "n_frames": 632, |
| "duration_s": 21.067, |
| "source_pt_frame_range": [ |
| 9679, |
| 10310 |
| ], |
| "source_h5_frame_range": [ |
| 9679, |
| 10310 |
| ], |
| "contact_pct_left": 33.86, |
| "contact_pct_right": 32.59, |
| "mean_speed_left_mps": 0.2063, |
| "mean_speed_right_mps": 0.2452, |
| "file_size_mb": 148.37, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_002.segment_03.pt", |
| "source_episode": "2026-05-10/episode_002", |
| "source_segment_idx": 3, |
| "n_frames": 156, |
| "duration_s": 5.2, |
| "source_pt_frame_range": [ |
| 10319, |
| 10474 |
| ], |
| "source_h5_frame_range": [ |
| 10319, |
| 10474 |
| ], |
| "contact_pct_left": 44.87, |
| "contact_pct_right": 16.67, |
| "mean_speed_left_mps": 0.2724, |
| "mean_speed_right_mps": 0.2633, |
| "file_size_mb": 36.77, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_003.segment_00.pt", |
| "source_episode": "2026-05-10/episode_003", |
| "source_segment_idx": 0, |
| "n_frames": 9262, |
| "duration_s": 308.733, |
| "source_pt_frame_range": [ |
| 0, |
| 9261 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 9261 |
| ], |
| "contact_pct_left": 43.59, |
| "contact_pct_right": 31.72, |
| "mean_speed_left_mps": 0.0792, |
| "mean_speed_right_mps": 0.083, |
| "file_size_mb": 2171.75, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_004.segment_00.pt", |
| "source_episode": "2026-05-10/episode_004", |
| "source_segment_idx": 0, |
| "n_frames": 2406, |
| "duration_s": 80.2, |
| "source_pt_frame_range": [ |
| 0, |
| 2405 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 2405 |
| ], |
| "contact_pct_left": 56.48, |
| "contact_pct_right": 71.82, |
| "mean_speed_left_mps": 0.0792, |
| "mean_speed_right_mps": 0.0836, |
| "file_size_mb": 564.3, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_005.segment_00.pt", |
| "source_episode": "2026-05-10/episode_005", |
| "source_segment_idx": 0, |
| "n_frames": 763, |
| "duration_s": 25.433, |
| "source_pt_frame_range": [ |
| 0, |
| 762 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 762 |
| ], |
| "contact_pct_left": 53.87, |
| "contact_pct_right": 37.09, |
| "mean_speed_left_mps": 0.0822, |
| "mean_speed_right_mps": 0.0938, |
| "file_size_mb": 179.09, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_006.segment_00.pt", |
| "source_episode": "2026-05-10/episode_006", |
| "source_segment_idx": 0, |
| "n_frames": 3925, |
| "duration_s": 130.833, |
| "source_pt_frame_range": [ |
| 0, |
| 3924 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 3924 |
| ], |
| "contact_pct_left": 52.08, |
| "contact_pct_right": 57.78, |
| "mean_speed_left_mps": 0.0664, |
| "mean_speed_right_mps": 0.0735, |
| "file_size_mb": 920.45, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_007.segment_00.pt", |
| "source_episode": "2026-05-10/episode_007", |
| "source_segment_idx": 0, |
| "n_frames": 1927, |
| "duration_s": 64.233, |
| "source_pt_frame_range": [ |
| 0, |
| 1926 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 1926 |
| ], |
| "contact_pct_left": 36.17, |
| "contact_pct_right": 43.9, |
| "mean_speed_left_mps": 0.062, |
| "mean_speed_right_mps": 0.0762, |
| "file_size_mb": 452.0, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_008.segment_00.pt", |
| "source_episode": "2026-05-10/episode_008", |
| "source_segment_idx": 0, |
| "n_frames": 1305, |
| "duration_s": 43.5, |
| "source_pt_frame_range": [ |
| 0, |
| 1304 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 1304 |
| ], |
| "contact_pct_left": 33.1, |
| "contact_pct_right": 39.16, |
| "mean_speed_left_mps": 0.0596, |
| "mean_speed_right_mps": 0.0746, |
| "file_size_mb": 306.16, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_009.segment_00.pt", |
| "source_episode": "2026-05-10/episode_009", |
| "source_segment_idx": 0, |
| "n_frames": 1823, |
| "duration_s": 60.767, |
| "source_pt_frame_range": [ |
| 0, |
| 1822 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 1822 |
| ], |
| "contact_pct_left": 35.93, |
| "contact_pct_right": 54.25, |
| "mean_speed_left_mps": 0.0955, |
| "mean_speed_right_mps": 0.118, |
| "file_size_mb": 427.61, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_010.segment_00.pt", |
| "source_episode": "2026-05-10/episode_010", |
| "source_segment_idx": 0, |
| "n_frames": 1035, |
| "duration_s": 34.5, |
| "source_pt_frame_range": [ |
| 0, |
| 1034 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 1034 |
| ], |
| "contact_pct_left": 57.78, |
| "contact_pct_right": 41.45, |
| "mean_speed_left_mps": 0.1298, |
| "mean_speed_right_mps": 0.1172, |
| "file_size_mb": 242.86, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-10/episode_011.segment_00.pt", |
| "source_episode": "2026-05-10/episode_011", |
| "source_segment_idx": 0, |
| "n_frames": 2201, |
| "duration_s": 73.367, |
| "source_pt_frame_range": [ |
| 0, |
| 2200 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 2200 |
| ], |
| "contact_pct_left": 51.43, |
| "contact_pct_right": 63.52, |
| "mean_speed_left_mps": 0.1027, |
| "mean_speed_right_mps": 0.1051, |
| "file_size_mb": 516.24, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-11/episode_003.segment_00.pt", |
| "source_episode": "2026-05-11/episode_003", |
| "source_segment_idx": 0, |
| "n_frames": 262, |
| "duration_s": 8.733, |
| "source_pt_frame_range": [ |
| 0, |
| 261 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 261 |
| ], |
| "contact_pct_left": 28.63, |
| "contact_pct_right": 13.74, |
| "mean_speed_left_mps": 0.2124, |
| "mean_speed_right_mps": 0.1178, |
| "file_size_mb": 61.62, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-11/episode_003.segment_01.pt", |
| "source_episode": "2026-05-11/episode_003", |
| "source_segment_idx": 1, |
| "n_frames": 8327, |
| "duration_s": 277.567, |
| "source_pt_frame_range": [ |
| 271, |
| 8597 |
| ], |
| "source_h5_frame_range": [ |
| 271, |
| 8597 |
| ], |
| "contact_pct_left": 35.22, |
| "contact_pct_right": 29.27, |
| "mean_speed_left_mps": 0.197, |
| "mean_speed_right_mps": 0.1722, |
| "file_size_mb": 1952.53, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-11/episode_003.segment_02.pt", |
| "source_episode": "2026-05-11/episode_003", |
| "source_segment_idx": 2, |
| "n_frames": 1424, |
| "duration_s": 47.467, |
| "source_pt_frame_range": [ |
| 8608, |
| 10031 |
| ], |
| "source_h5_frame_range": [ |
| 8608, |
| 10031 |
| ], |
| "contact_pct_left": 24.65, |
| "contact_pct_right": 19.87, |
| "mean_speed_left_mps": 0.2019, |
| "mean_speed_right_mps": 0.1895, |
| "file_size_mb": 334.06, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-11/episode_004.segment_00.pt", |
| "source_episode": "2026-05-11/episode_004", |
| "source_segment_idx": 0, |
| "n_frames": 2638, |
| "duration_s": 87.933, |
| "source_pt_frame_range": [ |
| 0, |
| 2637 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 2637 |
| ], |
| "contact_pct_left": 31.65, |
| "contact_pct_right": 25.44, |
| "mean_speed_left_mps": 0.203, |
| "mean_speed_right_mps": 0.1767, |
| "file_size_mb": 618.7, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-11/episode_005.segment_00.pt", |
| "source_episode": "2026-05-11/episode_005", |
| "source_segment_idx": 0, |
| "n_frames": 2594, |
| "duration_s": 86.467, |
| "source_pt_frame_range": [ |
| 0, |
| 2593 |
| ], |
| "source_h5_frame_range": [ |
| 2429, |
| 5022 |
| ], |
| "contact_pct_left": 35.31, |
| "contact_pct_right": 31.84, |
| "mean_speed_left_mps": 0.1655, |
| "mean_speed_right_mps": 0.1583, |
| "file_size_mb": 608.38, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-11/episode_005.segment_01.pt", |
| "source_episode": "2026-05-11/episode_005", |
| "source_segment_idx": 1, |
| "n_frames": 10199, |
| "duration_s": 339.967, |
| "source_pt_frame_range": [ |
| 2619, |
| 12817 |
| ], |
| "source_h5_frame_range": [ |
| 5048, |
| 15246 |
| ], |
| "contact_pct_left": 43.87, |
| "contact_pct_right": 34.93, |
| "mean_speed_left_mps": 0.1651, |
| "mean_speed_right_mps": 0.1446, |
| "file_size_mb": 2391.44, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-11/episode_005.segment_02.pt", |
| "source_episode": "2026-05-11/episode_005", |
| "source_segment_idx": 2, |
| "n_frames": 1663, |
| "duration_s": 55.433, |
| "source_pt_frame_range": [ |
| 12835, |
| 14497 |
| ], |
| "source_h5_frame_range": [ |
| 15264, |
| 16926 |
| ], |
| "contact_pct_left": 52.44, |
| "contact_pct_right": 26.94, |
| "mean_speed_left_mps": 0.1728, |
| "mean_speed_right_mps": 0.1198, |
| "file_size_mb": 390.1, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-11/episode_006.segment_00.pt", |
| "source_episode": "2026-05-11/episode_006", |
| "source_segment_idx": 0, |
| "n_frames": 11990, |
| "duration_s": 399.667, |
| "source_pt_frame_range": [ |
| 0, |
| 11989 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 11989 |
| ], |
| "contact_pct_left": 36.03, |
| "contact_pct_right": 35.03, |
| "mean_speed_left_mps": 0.1316, |
| "mean_speed_right_mps": 0.1393, |
| "file_size_mb": 2811.36, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-11/episode_007.segment_00.pt", |
| "source_episode": "2026-05-11/episode_007", |
| "source_segment_idx": 0, |
| "n_frames": 5588, |
| "duration_s": 186.267, |
| "source_pt_frame_range": [ |
| 0, |
| 5587 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 5587 |
| ], |
| "contact_pct_left": 30.73, |
| "contact_pct_right": 40.09, |
| "mean_speed_left_mps": 0.1001, |
| "mean_speed_right_mps": 0.1346, |
| "file_size_mb": 1310.35, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-11/episode_007.segment_01.pt", |
| "source_episode": "2026-05-11/episode_007", |
| "source_segment_idx": 1, |
| "n_frames": 1311, |
| "duration_s": 43.7, |
| "source_pt_frame_range": [ |
| 5597, |
| 6907 |
| ], |
| "source_h5_frame_range": [ |
| 5597, |
| 6907 |
| ], |
| "contact_pct_left": 39.36, |
| "contact_pct_right": 20.9, |
| "mean_speed_left_mps": 0.1311, |
| "mean_speed_right_mps": 0.1063, |
| "file_size_mb": 307.57, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
| { |
| "path": "segments/motherboard/2026-05-11/episode_008.segment_00.pt", |
| "source_episode": "2026-05-11/episode_008", |
| "source_segment_idx": 0, |
| "n_frames": 2181, |
| "duration_s": 72.7, |
| "source_pt_frame_range": [ |
| 0, |
| 2180 |
| ], |
| "source_h5_frame_range": [ |
| 0, |
| 2180 |
| ], |
| "contact_pct_left": 52.96, |
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| "mean_speed_left_mps": 0.1367, |
| "mean_speed_right_mps": 0.1045, |
| "file_size_mb": 511.55, |
| "active_sensors": [ |
| "left", |
| "right" |
| ] |
| }, |
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