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yxma
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React

Tasks:
Robotics
Modalities:
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< 1K
Tags:
robotics
tactile
manipulation
multimodal
gelsight
realsense
License:
Dataset card Data Studio Files
xet
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yxma commited on
Commit
ace6cc2
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1 Parent(s): 0b2403c

Apply world-frame offset (dx, dy, dz) = (0.225, 0.0, 0.175) m to all 5 episodes of 2026-05-19 so all 32 episodes share one OptiTrack world frame. Per-episode _contact_meta.world_frame_offset_applied documents the bake. Segments, previews, tasks.json, segments.json refreshed.

Browse files
Files changed (17) hide show
  1. episodes/motherboard/2026-05-19/episode_000.pt +2 -2
  2. episodes/motherboard/2026-05-19/episode_001.pt +2 -2
  3. episodes/motherboard/2026-05-19/episode_002.pt +2 -2
  4. episodes/motherboard/2026-05-19/episode_003.pt +2 -2
  5. episodes/motherboard/2026-05-19/episode_004.pt +2 -2
  6. figures/episode_previews/motherboard/2026-05-19/episode_000.mp4 +2 -2
  7. figures/episode_previews/motherboard/2026-05-19/episode_001.mp4 +2 -2
  8. figures/episode_previews/motherboard/2026-05-19/episode_002.mp4 +2 -2
  9. figures/episode_previews/motherboard/2026-05-19/episode_003.mp4 +2 -2
  10. figures/episode_previews/motherboard/2026-05-19/episode_004.mp4 +2 -2
  11. segments.json +2 -2
  12. segments/motherboard/2026-05-19/episode_000.segment_00.pt +2 -2
  13. segments/motherboard/2026-05-19/episode_001.segment_00.pt +2 -2
  14. segments/motherboard/2026-05-19/episode_002.segment_00.pt +2 -2
  15. segments/motherboard/2026-05-19/episode_003.segment_00.pt +2 -2
  16. segments/motherboard/2026-05-19/episode_004.segment_00.pt +2 -2
  17. tasks.json +6 -1
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tasks.json CHANGED
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  "left",
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  "right"
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  ],
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- "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/`."
 
 
 
 
 
36
  }
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  },
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  "n_episode_files": 27,
 
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  "left",
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  "right"
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  ],
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+ "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=0.225, 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.",
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+ 0.0,
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  }
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  "n_episode_files": 27,