Datasets:

yxma
/

React

@@ -1,7 +1,16 @@
 {
   "tau_intensity": 30.0,
   "tau_velocity_mps": 5.0,
   "buffer_frames": 3,
   "summary": {
     "n_episodes": 27,
     "total_frames": 190231,
@@ -545,9 +554,5 @@
       "ot_loss_L": [],
       "ot_loss_R": []
     }
-  },
-  "tau_angular_rad_per_s": 15.0,
-  "tau_opt_gap_s": 0.1,
-  "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)."
 }

 {
   "tau_intensity": 30.0,
   "tau_velocity_mps": 5.0,
+  "tau_angular_rad_per_s": 15.0,
+  "tau_opt_gap_s": 0.1,
+  "freeze_threshold_s": 0.25,
   "buffer_frames": 3,
+  "trim_offsets": {
+    "2026-05-11/episode_005": 2429,
+    "2026-05-11/episode_012": 9719,
+    "2026-05-11/episode_017": 19228
+  },
+  "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,
       "ot_loss_L": [],
       "ot_loss_R": []
     }
+  }
 }

docs/figures.md CHANGED Viewed

@@ -6,13 +6,13 @@ A gallery of dataset-level figures. All sources live under [`figures/dataset_fig
 ![Episode length](../figures/dataset_figures/F1_episode_length_histogram.png)
-Most episodes run 1–10 minutes (median 4 min, longest 19 min) — about **8× longer than BridgeData V2's typical 30 s demo**.
 ## F2 — Contact event durations
 ![Contact event durations](../figures/dataset_figures/F2_contact_event_duration_histogram.png)
-4,136 contact events total. The typical event lasts ≈ **0.7 s** (median), tail out to 33 s.
 ## F3 — Where on the gel does contact land?
@@ -48,10 +48,12 @@ React is the only entry combining tactile + RGB-D + motion capture + bimanual.
 ![Per-episode summary](../figures/dataset_figures/F8_per_episode_summary.png)
-Full table for all 30 episodes. CSV: [`figures/dataset_figures/F8_per_episode_summary.csv`](../figures/dataset_figures/F8_per_episode_summary.csv).
 ## Tactile-intensity timelines
 ![Full dataset intensity timeline](../figures/contact_intensity_full.png)
-138-minute audio-waveform-style view across the entire dataset; left intensity rendered above the x-axis (orange), right intensity mirrored below (blue). A 20-minute zoom is in [`figures/contact_intensity_20min.png`](../figures/contact_intensity_20min.png).

 ![Episode length](../figures/dataset_figures/F1_episode_length_histogram.png)
+Across 27 episodes, total duration **106 min**. Episode lengths span 25 s to ~19 min (median ~4 min) — about **8× longer than BridgeData V2's typical 30 s demo**.
 ## F2 — Contact event durations
 ![Contact event durations](../figures/dataset_figures/F2_contact_event_duration_histogram.png)
+Across the 27 post-trim recording files, ~**146,440** frames (77.0%) are in tactile contact. The typical contact event lasts ≈ **0.7 s** (median); tail out to 33 s.
 ## F3 — Where on the gel does contact land?
 ![Per-episode summary](../figures/dataset_figures/F8_per_episode_summary.png)
+Full table for all 27 episodes. CSV: [`figures/dataset_figures/F8_per_episode_summary.csv`](../figures/dataset_figures/F8_per_episode_summary.csv).
 ## Tactile-intensity timelines
 ![Full dataset intensity timeline](../figures/contact_intensity_full.png)
+106-minute audio-waveform-style view across the entire dataset; left intensity rendered above the x-axis (orange), right intensity mirrored below (blue). A 20-minute zoom is in [`figures/contact_intensity_20min.png`](../figures/contact_intensity_20min.png).
+> **Note**: The hero figures above (`contact_intensity_*.png`) and `F1`–`F8` are pre-trim renders; their x-axis durations are slightly overstated for `2026-05-11/episode_{005,012,017}`. They will be regenerated in a follow-up commit. Headline numbers (frames, duration, bad-frame %) in `README.md` and `docs/quality.md` are post-trim and authoritative.

examples/react_window_dataset.py CHANGED Viewed

@@ -60,7 +60,7 @@ ds = ReactWindowDataset(
     contact_metric        = "mixed",
     tactile_threshold     = 0.4,
     min_contact_fraction  = 0.5,
-    which_sensors         = "any",
     # quality filters (recommended on)
     skip_bad_frames        = True,
     respect_active_sensors = True,
@@ -178,7 +178,7 @@ class ReactWindowDataset(Dataset):
         contact_metric: str = "mixed",
         tactile_threshold: float = 0.4,
         min_contact_fraction: float = 0.5,
-        which_sensors: str = "any",
         tasks: Iterable[str] | None = None,
         dates: Iterable[str] | None = None,
         skip_bad_frames: bool = True,

     contact_metric        = "mixed",
     tactile_threshold     = 0.4,
     min_contact_fraction  = 0.5,
+    which_sensors         = "both",
     # quality filters (recommended on)
     skip_bad_frames        = True,
     respect_active_sensors = True,
         contact_metric: str = "mixed",
         tactile_threshold: float = 0.4,
         min_contact_fraction: float = 0.5,
+        which_sensors: str = "both",   # bimanual default; pass "any" to allow single-hand contact
         tasks: Iterable[str] | None = None,
         dates: Iterable[str] | None = None,
         skip_bad_frames: bool = True,

freeze_intervals.json ADDED Viewed

	@@ -0,0 +1,793 @@

+{
+  "description": "Diagnostic per-event view of the OT-loss intervals that appear in bad_frames.json as `ot_loss_L` / `ot_loss_R`. Use bad_frames.json for window-filtering; use this file when you want to inspect or filter on the underlying motion / OT-gap / angular-velocity signals.",
+  "thresholds": {
+    "freeze_min_s": 0.25,
+    "trans_teleport_mps": 5.0,
+    "ang_teleport_rad_per_s": 15.0,
+    "opt_gap_s": 0.1,
+    "near_window_s": 1.0
+  },
+  "coordinates": "TRIMMED-pt frame indices (same as bad_frames.json)",
+  "n_events": 41,
+  "events": [
+    {
+      "episode": "2026-05-10/episode_001",
+      "side": "left",
+      "a": 5503,
+      "b": 5513,
+      "length_s": 0.367,
+      "view_motion": 3.353,
+      "cam0_motion": 4.531,
+      "cam1_motion": 2.895,
+      "tac_motion": 0.64,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.7,
+      "trans_vel_near_mps": 0.587,
+      "ang_vel_near_rad_s": 18.229,
+      "opt_gap_s": 0.4999,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-10/episode_001",
+      "side": "left",
+      "a": 7062,
+      "b": 7153,
+      "length_s": 3.067,
+      "view_motion": 4.593,
+      "cam0_motion": 3.571,
+      "cam1_motion": 4.381,
+      "tac_motion": 0.652,
+      "cam0_dup": 0.062,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.688,
+      "trans_vel_near_mps": 107.787,
+      "ang_vel_near_rad_s": 4404.345,
+      "opt_gap_s": 1.6301,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_005",
+      "side": "left",
+      "a": 12818,
+      "b": 12834,
+      "length_s": 0.567,
+      "view_motion": 3.613,
+      "cam0_motion": 3.323,
+      "cam1_motion": 3.528,
+      "tac_motion": 0.688,
+      "cam0_dup": 0.125,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.688,
+      "trans_vel_near_mps": 3.753,
+      "ang_vel_near_rad_s": 234.83,
+      "opt_gap_s": 0.54,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_005",
+      "side": "right",
+      "a": 2594,
+      "b": 2618,
+      "length_s": 0.833,
+      "view_motion": 2.993,
+      "cam0_motion": 2.999,
+      "cam1_motion": 3.079,
+      "tac_motion": 0.547,
+      "cam0_dup": 0.208,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.75,
+      "trans_vel_near_mps": 1.39,
+      "ang_vel_near_rad_s": 57.624,
+      "opt_gap_s": 0.8199,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "left",
+      "a": 5765,
+      "b": 5794,
+      "length_s": 1.0,
+      "view_motion": 2.359,
+      "cam0_motion": 2.113,
+      "cam1_motion": 2.614,
+      "tac_motion": 0.612,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.724,
+      "trans_vel_near_mps": 135.549,
+      "ang_vel_near_rad_s": 355.849,
+      "opt_gap_s": 0.94,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "left",
+      "a": 5869,
+      "b": 5884,
+      "length_s": 0.533,
+      "view_motion": 2.879,
+      "cam0_motion": 2.05,
+      "cam1_motion": 3.933,
+      "tac_motion": 0.587,
+      "cam0_dup": 0.067,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.733,
+      "trans_vel_near_mps": 1.937,
+      "ang_vel_near_rad_s": 101.764,
+      "opt_gap_s": 2.67,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "left",
+      "a": 5905,
+      "b": 5985,
+      "length_s": 2.7,
+      "view_motion": 2.386,
+      "cam0_motion": 2.312,
+      "cam1_motion": 3.579,
+      "tac_motion": 0.841,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.625,
+      "trans_vel_near_mps": 0.269,
+      "ang_vel_near_rad_s": 15.407,
+      "opt_gap_s": 2.67,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "left",
+      "a": 7680,
+      "b": 7716,
+      "length_s": 1.233,
+      "view_motion": 2.097,
+      "cam0_motion": 1.978,
+      "cam1_motion": 2.61,
+      "tac_motion": 0.629,
+      "cam0_dup": 0.031,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.719,
+      "trans_vel_near_mps": 531.866,
+      "ang_vel_near_rad_s": 26952.766,
+      "opt_gap_s": 0.62,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "left",
+      "a": 7765,
+      "b": 7790,
+      "length_s": 0.867,
+      "view_motion": 2.148,
+      "cam0_motion": 1.886,
+      "cam1_motion": 2.538,
+      "tac_motion": 0.626,
+      "cam0_dup": 0.08,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.72,
+      "trans_vel_near_mps": 50.784,
+      "ang_vel_near_rad_s": 1051.315,
+      "opt_gap_s": 0.8785,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "left",
+      "a": 7797,
+      "b": 7815,
+      "length_s": 0.633,
+      "view_motion": 3.267,
+      "cam0_motion": 2.516,
+      "cam1_motion": 3.861,
+      "tac_motion": 0.611,
+      "cam0_dup": 0.056,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.056,
+      "tac_dup": 0.722,
+      "trans_vel_near_mps": 8.955,
+      "ang_vel_near_rad_s": 249.433,
+      "opt_gap_s": 0.8785,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "left",
+      "a": 8179,
+      "b": 8186,
+      "length_s": 0.267,
+      "view_motion": 2.147,
+      "cam0_motion": 1.886,
+      "cam1_motion": 2.564,
+      "tac_motion": 0.628,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.714,
+      "trans_vel_near_mps": 2.625,
+      "ang_vel_near_rad_s": 133.048,
+      "opt_gap_s": 0.48,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "left",
+      "a": 9633,
+      "b": 9693,
+      "length_s": 2.033,
+      "view_motion": 1.887,
+      "cam0_motion": 1.816,
+      "cam1_motion": 2.436,
+      "tac_motion": 0.7,
+      "cam0_dup": 0.062,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.688,
+      "trans_vel_near_mps": 2.859,
+      "ang_vel_near_rad_s": 148.364,
+      "opt_gap_s": 4.6699,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "left",
+      "a": 9712,
+      "b": 9848,
+      "length_s": 4.567,
+      "view_motion": 1.813,
+      "cam0_motion": 1.771,
+      "cam1_motion": 2.281,
+      "tac_motion": 0.716,
+      "cam0_dup": 0.031,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.688,
+      "trans_vel_near_mps": 1.246,
+      "ang_vel_near_rad_s": 76.568,
+      "opt_gap_s": 4.6699,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "left",
+      "a": 11361,
+      "b": 11407,
+      "length_s": 1.567,
+      "view_motion": 2.262,
+      "cam0_motion": 2.054,
+      "cam1_motion": 2.29,
+      "tac_motion": 0.484,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.781,
+      "trans_vel_near_mps": 3.942,
+      "ang_vel_near_rad_s": 232.607,
+      "opt_gap_s": 1.05,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "left",
+      "a": 11454,
+      "b": 11515,
+      "length_s": 2.067,
+      "view_motion": 2.517,
+      "cam0_motion": 2.123,
+      "cam1_motion": 2.556,
+      "tac_motion": 0.626,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.719,
+      "trans_vel_near_mps": 11.811,
+      "ang_vel_near_rad_s": 140.08,
+      "opt_gap_s": 0.8603,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "left",
+      "a": 11518,
+      "b": 11539,
+      "length_s": 0.733,
+      "view_motion": 2.7,
+      "cam0_motion": 2.197,
+      "cam1_motion": 2.759,
+      "tac_motion": 0.523,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.762,
+      "trans_vel_near_mps": 1.518,
+      "ang_vel_near_rad_s": 51.109,
+      "opt_gap_s": 0.8603,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "left",
+      "a": 11585,
+      "b": 11636,
+      "length_s": 1.733,
+      "view_motion": 1.764,
+      "cam0_motion": 1.69,
+      "cam1_motion": 1.912,
+      "tac_motion": 0.554,
+      "cam0_dup": 0.031,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.75,
+      "trans_vel_near_mps": 11.316,
+      "ang_vel_near_rad_s": 440.888,
+      "opt_gap_s": 1.65,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "right",
+      "a": 6145,
+      "b": 6164,
+      "length_s": 0.667,
+      "view_motion": 3.205,
+      "cam0_motion": 4.15,
+      "cam1_motion": 2.686,
+      "tac_motion": 0.55,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.737,
+      "trans_vel_near_mps": 38.695,
+      "ang_vel_near_rad_s": 291.932,
+      "opt_gap_s": 0.66,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "right",
+      "a": 6269,
+      "b": 6287,
+      "length_s": 0.633,
+      "view_motion": 1.93,
+      "cam0_motion": 2.56,
+      "cam1_motion": 1.951,
+      "tac_motion": 0.581,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.722,
+      "trans_vel_near_mps": 0.609,
+      "ang_vel_near_rad_s": 6.153,
+      "opt_gap_s": 0.65,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "right",
+      "a": 10170,
+      "b": 10191,
+      "length_s": 0.733,
+      "view_motion": 1.814,
+      "cam0_motion": 1.751,
+      "cam1_motion": 2.017,
+      "tac_motion": 0.506,
+      "cam0_dup": 0.048,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.762,
+      "trans_vel_near_mps": 165.34,
+      "ang_vel_near_rad_s": 714.222,
+      "opt_gap_s": 0.7198,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_013",
+      "side": "right",
+      "a": 11756,
+      "b": 11782,
+      "length_s": 0.9,
+      "view_motion": 1.987,
+      "cam0_motion": 2.224,
+      "cam1_motion": 1.88,
+      "tac_motion": 0.578,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.731,
+      "trans_vel_near_mps": 183.253,
+      "ang_vel_near_rad_s": 372.059,
+      "opt_gap_s": 0.89,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_014",
+      "side": "left",
+      "a": 922,
+      "b": 980,
+      "length_s": 1.967,
+      "view_motion": 2.986,
+      "cam0_motion": 2.323,
+      "cam1_motion": 4.25,
+      "tac_motion": 0.808,
+      "cam0_dup": 0.031,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.656,
+      "trans_vel_near_mps": 0.839,
+      "ang_vel_near_rad_s": 52.644,
+      "opt_gap_s": 1.13,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_014",
+      "side": "left",
+      "a": 2025,
+      "b": 2112,
+      "length_s": 2.933,
+      "view_motion": 2.767,
+      "cam0_motion": 2.21,
+      "cam1_motion": 3.648,
+      "tac_motion": 1.081,
+      "cam0_dup": 0.031,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.531,
+      "trans_vel_near_mps": 31.896,
+      "ang_vel_near_rad_s": 105.784,
+      "opt_gap_s": 1.53,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_014",
+      "side": "right",
+      "a": 1694,
+      "b": 1720,
+      "length_s": 0.9,
+      "view_motion": 1.925,
+      "cam0_motion": 2.916,
+      "cam1_motion": 1.951,
+      "tac_motion": 0.66,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.692,
+      "trans_vel_near_mps": 0.828,
+      "ang_vel_near_rad_s": 3.824,
+      "opt_gap_s": 0.8701,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_015",
+      "side": "left",
+      "a": 2150,
+      "b": 2194,
+      "length_s": 1.5,
+      "view_motion": 3.206,
+      "cam0_motion": 2.71,
+      "cam1_motion": 3.968,
+      "tac_motion": 0.881,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.625,
+      "trans_vel_near_mps": 202.421,
+      "ang_vel_near_rad_s": 5386.697,
+      "opt_gap_s": 1.57,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_015",
+      "side": "left",
+      "a": 2202,
+      "b": 2228,
+      "length_s": 0.9,
+      "view_motion": 3.738,
+      "cam0_motion": 2.887,
+      "cam1_motion": 4.627,
+      "tac_motion": 0.592,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.731,
+      "trans_vel_near_mps": 146.445,
+      "ang_vel_near_rad_s": 1938.439,
+      "opt_gap_s": 1.57,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_015",
+      "side": "left",
+      "a": 2231,
+      "b": 2322,
+      "length_s": 3.067,
+      "view_motion": 2.739,
+      "cam0_motion": 2.335,
+      "cam1_motion": 3.694,
+      "tac_motion": 0.743,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.688,
+      "trans_vel_near_mps": 0.366,
+      "ang_vel_near_rad_s": 3.672,
+      "opt_gap_s": 1.44,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_015",
+      "side": "left",
+      "a": 3590,
+      "b": 3705,
+      "length_s": 3.867,
+      "view_motion": 2.822,
+      "cam0_motion": 2.421,
+      "cam1_motion": 3.941,
+      "tac_motion": 0.419,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.812,
+      "trans_vel_near_mps": 3.226,
+      "ang_vel_near_rad_s": 178.644,
+      "opt_gap_s": 2.48,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_015",
+      "side": "left",
+      "a": 4829,
+      "b": 4899,
+      "length_s": 2.367,
+      "view_motion": 3.301,
+      "cam0_motion": 2.51,
+      "cam1_motion": 4.564,
+      "tac_motion": 0.864,
+      "cam0_dup": 0.031,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.625,
+      "trans_vel_near_mps": 4.198,
+      "ang_vel_near_rad_s": 286.989,
+      "opt_gap_s": 0.81,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_015",
+      "side": "right",
+      "a": 1491,
+      "b": 1516,
+      "length_s": 0.867,
+      "view_motion": 2.282,
+      "cam0_motion": 3.39,
+      "cam1_motion": 1.98,
+      "tac_motion": 0.631,
+      "cam0_dup": 0.04,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.72,
+      "trans_vel_near_mps": 526.887,
+      "ang_vel_near_rad_s": 2452.28,
+      "opt_gap_s": 0.9001,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_015",
+      "side": "right",
+      "a": 2710,
+      "b": 2727,
+      "length_s": 0.6,
+      "view_motion": 2.053,
+      "cam0_motion": 3.25,
+      "cam1_motion": 1.999,
+      "tac_motion": 0.522,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.765,
+      "trans_vel_near_mps": 1.349,
+      "ang_vel_near_rad_s": 6.651,
+      "opt_gap_s": 0.5801,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_015",
+      "side": "right",
+      "a": 4147,
+      "b": 4182,
+      "length_s": 1.2,
+      "view_motion": 3.317,
+      "cam0_motion": 3.416,
+      "cam1_motion": 2.102,
+      "tac_motion": 0.635,
+      "cam0_dup": 0.031,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.719,
+      "trans_vel_near_mps": 1.082,
+      "ang_vel_near_rad_s": 4.682,
+      "opt_gap_s": 1.2,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_015",
+      "side": "right",
+      "a": 5373,
+      "b": 5388,
+      "length_s": 0.533,
+      "view_motion": 2.814,
+      "cam0_motion": 3.653,
+      "cam1_motion": 2.008,
+      "tac_motion": 0.625,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.733,
+      "trans_vel_near_mps": 1.883,
+      "ang_vel_near_rad_s": 13.936,
+      "opt_gap_s": 0.52,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_016",
+      "side": "left",
+      "a": 939,
+      "b": 1017,
+      "length_s": 2.633,
+      "view_motion": 2.277,
+      "cam0_motion": 2.192,
+      "cam1_motion": 3.258,
+      "tac_motion": 0.632,
+      "cam0_dup": 0.062,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.031,
+      "tac_dup": 0.719,
+      "trans_vel_near_mps": 7.392,
+      "ang_vel_near_rad_s": 314.475,
+      "opt_gap_s": 2.72,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_016",
+      "side": "left",
+      "a": 1052,
+      "b": 1083,
+      "length_s": 1.067,
+      "view_motion": 2.017,
+      "cam0_motion": 1.887,
+      "cam1_motion": 2.496,
+      "tac_motion": 0.571,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.097,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.742,
+      "trans_vel_near_mps": 7.392,
+      "ang_vel_near_rad_s": 285.626,
+      "opt_gap_s": 1.201,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_016",
+      "side": "left",
+      "a": 1144,
+      "b": 1151,
+      "length_s": 0.267,
+      "view_motion": 2.495,
+      "cam0_motion": 2.387,
+      "cam1_motion": 3.295,
+      "tac_motion": 0.627,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.714,
+      "trans_vel_near_mps": 2.822,
+      "ang_vel_near_rad_s": 147.338,
+      "opt_gap_s": 0.52,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_016",
+      "side": "left",
+      "a": 1184,
+      "b": 1191,
+      "length_s": 0.267,
+      "view_motion": 1.926,
+      "cam0_motion": 2.055,
+      "cam1_motion": 2.56,
+      "tac_motion": 0.307,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.857,
+      "trans_vel_near_mps": 0.588,
+      "ang_vel_near_rad_s": 36.635,
+      "opt_gap_s": 0.52,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_016",
+      "side": "left",
+      "a": 3738,
+      "b": 3745,
+      "length_s": 0.267,
+      "view_motion": 2.947,
+      "cam0_motion": 2.715,
+      "cam1_motion": 3.728,
+      "tac_motion": 0.679,
+      "cam0_dup": 0.143,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.714,
+      "trans_vel_near_mps": 5.581,
+      "ang_vel_near_rad_s": 94.104,
+      "opt_gap_s": 0.4601,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_016",
+      "side": "left",
+      "a": 4921,
+      "b": 4950,
+      "length_s": 1.0,
+      "view_motion": 2.621,
+      "cam0_motion": 2.352,
+      "cam1_motion": 3.69,
+      "tac_motion": 0.653,
+      "cam0_dup": 0.034,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.724,
+      "trans_vel_near_mps": 1070.109,
+      "ang_vel_near_rad_s": 51641.3,
+      "opt_gap_s": 1.02,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_016",
+      "side": "left",
+      "a": 5103,
+      "b": 5142,
+      "length_s": 1.333,
+      "view_motion": 1.831,
+      "cam0_motion": 1.888,
+      "cam1_motion": 2.336,
+      "tac_motion": 0.557,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.0,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.75,
+      "trans_vel_near_mps": 3.397,
+      "ang_vel_near_rad_s": 199.251,
+      "opt_gap_s": 0.74,
+      "verdict": "ot_loss"
+    },
+    {
+      "episode": "2026-05-11/episode_016",
+      "side": "left",
+      "a": 7926,
+      "b": 7948,
+      "length_s": 0.767,
+      "view_motion": 3.097,
+      "cam0_motion": 2.443,
+      "cam1_motion": 3.1,
+      "tac_motion": 0.578,
+      "cam0_dup": 0.0,
+      "cam1_dup": 0.045,
+      "cam2_dup": 0.0,
+      "tac_dup": 0.727,
+      "trans_vel_near_mps": 7.903,
+      "ang_vel_near_rad_s": 306.111,
+      "opt_gap_s": 0.7798,
+      "verdict": "ot_loss"
+    }
+  ]
+}

tasks.json CHANGED Viewed

@@ -24,11 +24,17 @@
             "left",
             "right"
           ],
-          "note": "Largest session. A few GelSight LED-flicker frames and one mocap teleport event \u2014 see bad_frames.json."
         }
       },
       "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."
     }
   },
   "schema_version": "mode1_v1",

             "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."
         }
       },
       "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",