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.

README.md

@@ -33,7 +33,7 @@ Dense, contact-rich, synchronized multimodal interaction data collected from **h
 
 ![Tactile intensity timeline](figures/contact_intensity_full.png)
 
-> **126 min of robot-free human-hand multimodal interaction · 81 min (66 %) of confirmed bimanual tactile contact · 221,621 frames @ 30 Hz across 3 × RGB-D + 2 × GelSight + 3-body OptiTrack**
+> **106 min of robot-free human-hand multimodal interaction · 190,231 frames @ 30 Hz across 3 × RGB-D + 2 × GelSight + 3-body OptiTrack**
 
 ## What's different about this dataset
 
@@ -52,7 +52,7 @@ Dense, contact-rich, synchronized multimodal interaction data collected from **h
 |---|---|
 | Embodiment | **Human hands (no robot)** — handheld GelSight sensors with motion-capture rigid bodies |
 | Intended use | Dynamics / world-model learning over short multimodal windows. Sample short trajectories (1 s – 10 s); recording-file boundaries are not action boundaries. |
-| Total synchronized duration | **126.0 min** at 30 Hz (221,621 multimodal frames) |
+| Total synchronized duration | **105.7 min** at 30 Hz (190,231 multimodal frames, post-trim) |
 | Bimanual tactile-contact time | **81.4 min — 66 % of frames** (median event duration 0.73 s) |
 | Cameras | 3× Intel RealSense D415 (color + depth), 480×640, 30 FPS |
 | Tactile | 2× GelSight Mini (left, right), handheld |
@@ -69,6 +69,8 @@ Dense, contact-rich, synchronized multimodal interaction data collected from **h
 
 See [`tasks.json`](tasks.json) for the machine-readable registry (per-date `active_sensors`, etc.).
 
+**OT-uninitialized prefixes trimmed.** Three episodes had OptiTrack offline for the first 1–11 min of recording (`2026-05-11/episode_{005,012,017}`); those prefixes have been cut from the published `.pt` files (see `_contact_meta.trim_offset` per file). The original recordings remain in the H5 archive untouched. Future episodes use a recorder-side OT watchdog that refuses to start without an active mocap stream.
+
 ## Quick start
 
 ```python

bad_frames.json

@@ -4,15 +4,15 @@
   "buffer_frames": 3,
   "summary": {
     "n_episodes": 27,
-    "total_frames": 221621,
-    "total_bad_frames": 33144,
-    "bad_fraction_overall": 0.14955261459879704,
-    "n_episodes_with_bad_frames": 13
+    "total_frames": 190231,
+    "total_bad_frames": 1768,
+    "bad_fraction_overall": 0.009293963654714531,
+    "n_episodes_with_bad_frames": 11
   },
   "episodes": {
     "2026-05-10/episode_000": {
-      "n_frames": 6891,
-      "duration_s": 235.86456942558289,
+      "n_frames": 6890,
+      "duration_s": 229.667,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -23,7 +23,7 @@
     },
     "2026-05-10/episode_001": {
       "n_frames": 7621,
-      "duration_s": 258.1599111557007,
+      "duration_s": 254.033,
       "intensity_spikes": [],
       "pose_teleports_L": [
         [
@@ -51,27 +51,27 @@
       "ot_loss_R": []
     },
     "2026-05-10/episode_002": {
-      "n_frames": 10476,
-      "duration_s": 371.4840340614319,
+      "n_frames": 10475,
+      "duration_s": 349.167,
       "intensity_spikes": [],
       "pose_teleports_L": [
         [
-          10312,
-          10319
+          10311,
+          10318
         ]
       ],
       "pose_teleports_R": [
         [
-          9552,
-          9559
+          9551,
+          9558
         ],
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-          9672,
-          9679
+          9671,
+          9678
         ],
         [
-          10312,
-          10319
+          10311,
+          10318
         ]
       ],
       "total_bad_frames": 24,
@@ -81,7 +81,7 @@
     },
     "2026-05-10/episode_003": {
       "n_frames": 9262,
-      "duration_s": 311.72618341445923,
+      "duration_s": 308.733,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -91,8 +91,8 @@
       "ot_loss_R": []
     },
     "2026-05-10/episode_004": {
-      "n_frames": 2407,
-      "duration_s": 81.0497419834137,
+      "n_frames": 2406,
+      "duration_s": 80.2,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -102,8 +102,8 @@
       "ot_loss_R": []
     },
     "2026-05-10/episode_005": {
-      "n_frames": 764,
-      "duration_s": 25.767585039138794,
+      "n_frames": 763,
+      "duration_s": 25.433,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -113,8 +113,8 @@
       "ot_loss_R": []
     },
     "2026-05-10/episode_006": {
-      "n_frames": 3926,
-      "duration_s": 136.1196687221527,
+      "n_frames": 3925,
+      "duration_s": 130.833,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -124,8 +124,8 @@
       "ot_loss_R": []
     },
     "2026-05-10/episode_007": {
-      "n_frames": 1928,
-      "duration_s": 65.14239430427551,
+      "n_frames": 1927,
+      "duration_s": 64.233,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -136,7 +136,7 @@
     },
     "2026-05-10/episode_008": {
       "n_frames": 1305,
-      "duration_s": 43.98420429229736,
+      "duration_s": 43.5,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -146,8 +146,8 @@
       "ot_loss_R": []
     },
     "2026-05-10/episode_009": {
-      "n_frames": 1824,
-      "duration_s": 61.569007873535156,
+      "n_frames": 1823,
+      "duration_s": 60.767,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -158,7 +158,7 @@
     },
     "2026-05-10/episode_010": {
       "n_frames": 1035,
-      "duration_s": 35.73836064338684,
+      "duration_s": 34.5,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -168,8 +168,8 @@
       "ot_loss_R": []
     },
     "2026-05-10/episode_011": {
-      "n_frames": 2202,
-      "duration_s": 74.28065299987793,
+      "n_frames": 2201,
+      "duration_s": 73.367,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -180,7 +180,7 @@
     },
     "2026-05-11/episode_003": {
       "n_frames": 10032,
-      "duration_s": 338.1943950653076,
+      "duration_s": 334.4,
       "intensity_spikes": [
         [
           262,
@@ -199,8 +199,8 @@
       "ot_loss_R": []
     },
     "2026-05-11/episode_004": {
-      "n_frames": 2639,
-      "duration_s": 89.14375257492065,
+      "n_frames": 2638,
+      "duration_s": 87.933,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -210,37 +210,29 @@
       "ot_loss_R": []
     },
     "2026-05-11/episode_005": {
-      "n_frames": 16927,
-      "duration_s": 571.0894627571106,
+      "n_frames": 14498,
+      "duration_s": 483.267,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
-      "total_bad_frames": 2471,
-      "bad_fraction": 0.146,
+      "total_bad_frames": 42,
+      "bad_fraction": 0.0029,
       "ot_loss_L": [
         [
-          0,
-          2428
-        ],
-        [
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+          12818,
+          12834
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       "ot_loss_R": [
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+          2594,
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       "n_frames": 11990,
-      "duration_s": 404.6732089519501,
+      "duration_s": 399.667,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -250,12 +242,12 @@
       "ot_loss_R": []
     },
     "2026-05-11/episode_007": {
-      "n_frames": 6909,
-      "duration_s": 238.52864241600037,
+      "n_frames": 6908,
+      "duration_s": 230.267,
       "intensity_spikes": [
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@@ -267,7 +259,7 @@
     },
     "2026-05-11/episode_008": {
       "n_frames": 13705,
-      "duration_s": 462.2995111942291,
+      "duration_s": 456.833,
       "intensity_spikes": [
         [
           2181,
@@ -287,7 +279,7 @@
     },
     "2026-05-11/episode_009": {
       "n_frames": 4366,
-      "duration_s": 147.5375587940216,
+      "duration_s": 145.533,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -297,8 +289,8 @@
       "ot_loss_R": []
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     "2026-05-11/episode_010": {
-      "n_frames": 6829,
-      "duration_s": 230.4571714401245,
+      "n_frames": 6828,
+      "duration_s": 227.6,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
@@ -308,12 +300,12 @@
       "ot_loss_R": []
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     "2026-05-11/episode_011": {
-      "n_frames": 7300,
-      "duration_s": 261.1779751777649,
+      "n_frames": 7299,
+      "duration_s": 243.3,
       "intensity_spikes": [
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@@ -324,29 +316,19 @@
       "ot_loss_R": []
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-      "n_frames": 24547,
-      "duration_s": 827.8351356983185,
+      "n_frames": 14828,
+      "duration_s": 494.267,
       "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
-      "total_bad_frames": 9719,
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@@ -426,8 +408,8 @@
       ]
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+      "n_frames": 2416,
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       "intensity_spikes": [],
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@@ -435,82 +417,82 @@
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+      "duration_s": 396.533,
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@@ -553,33 +535,19 @@
       "ot_loss_R": []
     },
     "2026-05-11/episode_017": {
-      "n_frames": 33739,
-      "duration_s": 1157.4502182006836,
-      "intensity_spikes": [
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+      "n_frames": 14511,
+      "duration_s": 483.7,
+      "intensity_spikes": [],
       "pose_teleports_L": [],
       "pose_teleports_R": [],
-      "total_bad_frames": 19228,
-      "bad_fraction": 0.5699,
-      "ot_loss_L": [
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-      "ot_loss_R": [
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-      ]
+      "total_bad_frames": 0,
+      "bad_fraction": 0.0,
+      "ot_loss_L": [],
+      "ot_loss_R": []
     }
   },
   "tau_angular_rad_per_s": 15.0,
   "tau_opt_gap_s": 0.1,
-  "freeze_threshold_s": 0.25
+  "freeze_threshold_s": 0.25,
+  "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)."
 }

docs/quality.md

@@ -6,10 +6,10 @@ A small fraction of frames contain known sensor artifacts. The repo ships a [`..
 
 | | |
 |---|---:|
-| Total synchronized frames | 221,621 (126.0 min @ 30 Hz) |
+| Total synchronized frames | 190,231 (105.7 min @ 30 Hz, post-trim) |
 | Recording files | 27 |
-| Frames flagged in `bad_frames.json` | **122 (0.055 %)** |
-| Recording files with ≥1 flagged frame | 8 |
+| Frames flagged in `bad_frames.json` | **1,768 (0.929 %)** |
+| Recording files with ≥1 flagged frame | 11 |
 
 ## Failure modes — quantitative breakdown
 

figures/dataset_figures/data_quality_breakdown.json

@@ -1,10 +1,10 @@
 {
-  "total_frames": 221621,
+  "total_frames": 190231,
   "n_episodes": 27,
   "modes": {
     "gelsight_led_flicker": {
-      "frames": 66,
-      "pct": 0.02978057133574887,
+      "frames": 56,
+      "pct": 0.029437893928960054,
       "episodes_affected": [
         "2026-05-11/episode_003",
         "2026-05-11/episode_007",
@@ -15,7 +15,7 @@
     },
     "pose_teleport": {
       "frames": 56,
-      "pct": 0.0252683635576051,
+      "pct": 0.029437893928960054,
       "episodes_affected": [
         "2026-05-10/episode_001",
         "2026-05-10/episode_002",
@@ -23,8 +23,8 @@
       ]
     },
     "ot_loss": {
-      "frames": 33056,
-      "pct": 14.91555403143204,
+      "frames": 1680,
+      "pct": 0.8831368178688016,
       "freeze_threshold_s": 0.25,
       "trans_teleport_mps": 5.0,
       "ang_teleport_rad_per_s": 15.0,
@@ -32,14 +32,12 @@
       "episodes_affected": [
         "2026-05-10/episode_001",
         "2026-05-11/episode_005",
-        "2026-05-11/episode_012",
         "2026-05-11/episode_013",
         "2026-05-11/episode_014",
         "2026-05-11/episode_015",
-        "2026-05-11/episode_016",
-        "2026-05-11/episode_017"
+        "2026-05-11/episode_016"
       ],
-      "note": "OptiTrack lost the rigid body \u2014 recorder kept emitting the held pose, solver may re-acquire with a glitched orientation. Cause: marker moved near the mocap-volume / camera-FOV boundary. GelSight + RealSense streams are unaffected."
+      "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."
     }
   }
 }

processed/mode1_v1/motherboard/2026-05-11/episode_005.pt

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