Publish 2026-05-19 session + introduce multi-cam schema (view_left/middle/right). 5 episodes + segments; bad_frames + tasks + README + schema doc updated. Multi-cam rollout for 2026-05-10/11 still in progress (legacy mode1_v1/mode2_v1 paths remain valid until that wave finishes).

README.md

@@ -75,10 +75,15 @@ Dense, contact-rich, synchronized multimodal interaction data collected from **h
 | 2026-05-10 | session | left + right | First full bimanual session. |
 | 2026-05-11 | session | left + right | Largest session. A handful of GelSight LED-flicker frames + one mocap teleport; see [`bad_frames.json`](bad_frames.json). |
 
+| 2026-05-19 | session | left + right | New session, multi-cam (`view_left/middle/right`) end-to-end. Curation via reproducible `detect_bad_intervals.py` ruleset (see [`docs/curation_pipeline.md`](docs/curation_pipeline.md)). |
+
 See [`tasks.json`](tasks.json) for the machine-readable registry (per-date `active_sensors`, etc.).
 
 **OT-uninitialized prefixes trimmed.** Three episodes had OptiTrack offline at the start of recording (1–11 min each); those prefixes have been cut from the published `.pt` files (`_contact_meta.trim_offset` per file). Future recordings use an OT watchdog that refuses to start an episode unless mocap is streaming. Full story: [`docs/caveats.md`](docs/caveats.md).
 
+
+> **Multi-cam migration in progress.** As of 2026-05-19 the per-episode .pt files under `episodes/motherboard/2026-05-19/` ship all three RealSense views (`view_left`, `view_middle`, `view_right`). The 2026-05-10 and 2026-05-11 sessions are being re-published with the same multi-cam layout; until then, those still appear under the legacy `processed/mode1_v1/` (single-cam `view`) and `processed/mode2_v1/` paths.
+
 ## Data quality
 
 | Mode | Frames | % | Files | Cause |

bad_frames.json

@@ -8,14 +8,15 @@
   "trim_offsets": {
     "2026-05-11/episode_005": 2429,
     "2026-05-11/episode_012": 9719,
-    "2026-05-11/episode_017": 19228
+    "2026-05-11/episode_017": 19228,
+    "2026-05-19/episode_000": 1
   },
   "trim_note": "Each .pt has been trimmed at the start to drop the OT-uninitialized prefix (sensor pose not yet streaming). The amount trimmed is recorded in `_contact_meta.trim_offset` inside each .pt; all frame indices in this file are in TRIMMED coordinates (0 = first frame with valid OT).",
   "summary": {
-    "n_episodes": 27,
-    "total_frames": 190231,
+    "n_episodes": 32,
+    "total_frames": 194445,
     "total_bad_frames": 1768,
-    "bad_fraction_overall": 0.009293963654714531,
+    "bad_fraction_overall": 0.0091,
     "n_episodes_with_bad_frames": 11
   },
   "episodes": {
@@ -553,6 +554,61 @@
       "bad_fraction": 0.0,
       "ot_loss_L": [],
       "ot_loss_R": []
+    },
+    "2026-05-19/episode_000": {
+      "n_frames": 1434,
+      "duration_s": 47.8,
+      "intensity_spikes": [],
+      "pose_teleports_L": [],
+      "pose_teleports_R": [],
+      "ot_loss_L": [],
+      "ot_loss_R": [],
+      "total_bad_frames": 0,
+      "bad_fraction": 0.0
+    },
+    "2026-05-19/episode_001": {
+      "n_frames": 740,
+      "duration_s": 24.667,
+      "intensity_spikes": [],
+      "pose_teleports_L": [],
+      "pose_teleports_R": [],
+      "ot_loss_L": [],
+      "ot_loss_R": [],
+      "total_bad_frames": 0,
+      "bad_fraction": 0.0
+    },
+    "2026-05-19/episode_002": {
+      "n_frames": 1710,
+      "duration_s": 57.0,
+      "intensity_spikes": [],
+      "pose_teleports_L": [],
+      "pose_teleports_R": [],
+      "ot_loss_L": [],
+      "ot_loss_R": [],
+      "total_bad_frames": 0,
+      "bad_fraction": 0.0
+    },
+    "2026-05-19/episode_003": {
+      "n_frames": 121,
+      "duration_s": 4.033,
+      "intensity_spikes": [],
+      "pose_teleports_L": [],
+      "pose_teleports_R": [],
+      "ot_loss_L": [],
+      "ot_loss_R": [],
+      "total_bad_frames": 0,
+      "bad_fraction": 0.0
+    },
+    "2026-05-19/episode_004": {
+      "n_frames": 209,
+      "duration_s": 6.967,
+      "intensity_spikes": [],
+      "pose_teleports_L": [],
+      "pose_teleports_R": [],
+      "ot_loss_L": [],
+      "ot_loss_R": [],
+      "total_bad_frames": 0,
+      "bad_fraction": 0.0
     }
   }
 }

docs/schema.md

@@ -40,3 +40,14 @@ For each tactile sensor independently:
 - 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 (sessions from 2026-05-19 onward)
+
+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.
+
+| 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` |
+
+The legacy single-cam `view` field is equivalent to `view_right`. The 2026-05-10 and 2026-05-11 sessions will be re-published with this layout; until then, they still ship the single-cam `view` only.

episodes/motherboard/2026-05-19/episode_000.pt

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segments.json

@@ -1,10 +1,10 @@
 {
-  "schema": "mode2_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.",
-  "n_source_episodes": 27,
-  "n_segments": 73,
-  "total_frames": 188442,
-  "total_duration_min": 104.69,
+  "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,
@@ -1761,6 +1761,126 @@
         "left",
         "right"
       ]
+    },
+    {
+      "path": "segments/motherboard/2026-05-19/episode_000.segment_00.pt",
+      "source_episode": "2026-05-19/episode_000",
+      "source_segment_idx": 0,
+      "n_frames": 1434,
+      "duration_s": 47.8,
+      "source_pt_frame_range": [
+        0,
+        1433
+      ],
+      "source_h5_frame_range": [
+        1,
+        1434
+      ],
+      "contact_pct_left": 78.66,
+      "contact_pct_right": 75.03,
+      "mean_speed_left_mps": 0.2365,
+      "mean_speed_right_mps": 0.2052,
+      "file_size_mb": 336.41,
+      "active_sensors": [
+        "left",
+        "right"
+      ]
+    },
+    {
+      "path": "segments/motherboard/2026-05-19/episode_001.segment_00.pt",
+      "source_episode": "2026-05-19/episode_001",
+      "source_segment_idx": 0,
+      "n_frames": 740,
+      "duration_s": 24.667,
+      "source_pt_frame_range": [
+        0,
+        739
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+      "source_h5_frame_range": [
+        0,
+        739
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+      "contact_pct_left": 78.92,
+      "contact_pct_right": 59.46,
+      "mean_speed_left_mps": 0.2651,
+      "mean_speed_right_mps": 0.2382,
+      "file_size_mb": 173.69,
+      "active_sensors": [
+        "left",
+        "right"
+      ]
+    },
+    {
+      "path": "segments/motherboard/2026-05-19/episode_002.segment_00.pt",
+      "source_episode": "2026-05-19/episode_002",
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+      "n_frames": 1710,
+      "duration_s": 57.0,
+      "source_pt_frame_range": [
+        0,
+        1709
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+      "source_h5_frame_range": [
+        0,
+        1709
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+      "contact_pct_left": 65.15,
+      "contact_pct_right": 64.68,
+      "mean_speed_left_mps": 0.3095,
+      "mean_speed_right_mps": 0.2932,
+      "file_size_mb": 401.12,
+      "active_sensors": [
+        "left",
+        "right"
+      ]
+    },
+    {
+      "path": "segments/motherboard/2026-05-19/episode_003.segment_00.pt",
+      "source_episode": "2026-05-19/episode_003",
+      "source_segment_idx": 0,
+      "n_frames": 121,
+      "duration_s": 4.033,
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+        120
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+      "source_h5_frame_range": [
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+      "contact_pct_left": 96.69,
+      "contact_pct_right": 42.98,
+      "mean_speed_left_mps": 0.254,
+      "mean_speed_right_mps": 0.1799,
+      "file_size_mb": 28.56,
+      "active_sensors": [
+        "left",
+        "right"
+      ]
+    },
+    {
+      "path": "segments/motherboard/2026-05-19/episode_004.segment_00.pt",
+      "source_episode": "2026-05-19/episode_004",
+      "source_segment_idx": 0,
+      "n_frames": 209,
+      "duration_s": 6.967,
+      "source_pt_frame_range": [
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+        208
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+      "source_h5_frame_range": [
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+        208
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+      "contact_pct_left": 75.12,
+      "contact_pct_right": 56.94,
+      "mean_speed_left_mps": 0.128,
+      "mean_speed_right_mps": 0.1422,
+      "file_size_mb": 49.2,
+      "active_sensors": [
+        "left",
+        "right"
+      ]
     }
   ]
 }

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tasks.json

@@ -25,6 +25,14 @@
             "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. Published with view_left / view_middle / view_right (multi-cam) in the per-episode .pt under `episodes/motherboard/2026-05-19/`. Failure detection was run with the reproducible `detect_bad_intervals.py` ruleset (matches the published bad_frames.json bit-identically on 25 of 27 prior episodes; the two edge cases are minor borderline events that do not affect segment quality). Bad intervals were sliced out to produce `segments/motherboard/2026-05-19/`."
         }
       },
       "n_episode_files": 27,