| { |
| "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." |
| }, |
| "2026-05-19": { |
| "kind": "session", |
| "active_sensors": [ |
| "left", |
| "right" |
| ], |
| "note": "Recorded with all 3 RealSense views and both GelSight sensors. OptiTrack world origin was redefined on 2026-05-19 relative to earlier sessions; an offset of (dx=0.230, dy=0.000, dz=0.175) m has been added to sensor_{left,right}_pose translation columns of every .pt (and to OT samples during preview rendering) so all 32 episodes share one world frame. See _contact_meta.world_frame_offset_applied in each 2026-05-19 .pt for the per-file record.", |
| "world_frame_offset_applied": [ |
| 0.23, |
| 0.0, |
| 0.175 |
| ] |
| } |
| }, |
| "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} (raw with bad intervals) OR processed/mode2_v1/<task>/<date>/episode_*.segment_*.pt (pre-sliced clean segments; see segments.json)", |
| "mode2_v1": { |
| "description": "Same recordings as mode1_v1 but sliced at every bad-frames boundary into contiguous clean segments. Use with examples/react_segment_dataset.py.", |
| "n_segments": 73, |
| "total_frames": 188442, |
| "total_duration_min": 104.69, |
| "manifest": "segments.json" |
| } |
| } |
