{
  "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,
  "tactile_threshold_used_for_contact_pct": 0.4,
  "segments": [
    {
      "path": "segments/motherboard/2026-05-10/episode_000.segment_00.pt",
      "source_episode": "2026-05-10/episode_000",
      "source_segment_idx": 0,
      "n_frames": 6890,
      "duration_s": 229.667,
      "source_pt_frame_range": [
        0,
        6889
      ],
      "source_h5_frame_range": [
        0,
        6889
      ],
      "contact_pct_left": 47.21,
      "contact_pct_right": 28.03,
      "mean_speed_left_mps": 0.2039,
      "mean_speed_right_mps": 0.1454,
      "file_size_mb": 1615.62,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_001.segment_00.pt",
      "source_episode": "2026-05-10/episode_001",
      "source_segment_idx": 0,
      "n_frames": 5503,
      "duration_s": 183.433,
      "source_pt_frame_range": [
        0,
        5502
      ],
      "source_h5_frame_range": [
        0,
        5502
      ],
      "contact_pct_left": 40.76,
      "contact_pct_right": 23.41,
      "mean_speed_left_mps": 0.1821,
      "mean_speed_right_mps": 0.1439,
      "file_size_mb": 1290.42,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_001.segment_01.pt",
      "source_episode": "2026-05-10/episode_001",
      "source_segment_idx": 1,
      "n_frames": 1548,
      "duration_s": 51.6,
      "source_pt_frame_range": [
        5514,
        7061
      ],
      "source_h5_frame_range": [
        5514,
        7061
      ],
      "contact_pct_left": 42.05,
      "contact_pct_right": 16.93,
      "mean_speed_left_mps": 0.2537,
      "mean_speed_right_mps": 0.17,
      "file_size_mb": 363.14,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_001.segment_02.pt",
      "source_episode": "2026-05-10/episode_001",
      "source_segment_idx": 2,
      "n_frames": 467,
      "duration_s": 15.567,
      "source_pt_frame_range": [
        7154,
        7620
      ],
      "source_h5_frame_range": [
        7154,
        7620
      ],
      "contact_pct_left": 28.48,
      "contact_pct_right": 23.55,
      "mean_speed_left_mps": 0.228,
      "mean_speed_right_mps": 0.2239,
      "file_size_mb": 109.69,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_002.segment_00.pt",
      "source_episode": "2026-05-10/episode_002",
      "source_segment_idx": 0,
      "n_frames": 9551,
      "duration_s": 318.367,
      "source_pt_frame_range": [
        0,
        9550
      ],
      "source_h5_frame_range": [
        0,
        9550
      ],
      "contact_pct_left": 33.49,
      "contact_pct_right": 26.34,
      "mean_speed_left_mps": 0.2027,
      "mean_speed_right_mps": 0.1734,
      "file_size_mb": 2239.51,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_002.segment_01.pt",
      "source_episode": "2026-05-10/episode_002",
      "source_segment_idx": 1,
      "n_frames": 112,
      "duration_s": 3.733,
      "source_pt_frame_range": [
        9559,
        9670
      ],
      "source_h5_frame_range": [
        9559,
        9670
      ],
      "contact_pct_left": 35.71,
      "contact_pct_right": 16.96,
      "mean_speed_left_mps": 0.21,
      "mean_speed_right_mps": 0.1603,
      "file_size_mb": 26.45,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_002.segment_02.pt",
      "source_episode": "2026-05-10/episode_002",
      "source_segment_idx": 2,
      "n_frames": 632,
      "duration_s": 21.067,
      "source_pt_frame_range": [
        9679,
        10310
      ],
      "source_h5_frame_range": [
        9679,
        10310
      ],
      "contact_pct_left": 33.86,
      "contact_pct_right": 32.59,
      "mean_speed_left_mps": 0.2063,
      "mean_speed_right_mps": 0.2452,
      "file_size_mb": 148.37,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_002.segment_03.pt",
      "source_episode": "2026-05-10/episode_002",
      "source_segment_idx": 3,
      "n_frames": 156,
      "duration_s": 5.2,
      "source_pt_frame_range": [
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        10474
      ],
      "source_h5_frame_range": [
        10319,
        10474
      ],
      "contact_pct_left": 44.87,
      "contact_pct_right": 16.67,
      "mean_speed_left_mps": 0.2724,
      "mean_speed_right_mps": 0.2633,
      "file_size_mb": 36.77,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_003.segment_00.pt",
      "source_episode": "2026-05-10/episode_003",
      "source_segment_idx": 0,
      "n_frames": 9262,
      "duration_s": 308.733,
      "source_pt_frame_range": [
        0,
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      ],
      "source_h5_frame_range": [
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        9261
      ],
      "contact_pct_left": 43.59,
      "contact_pct_right": 31.72,
      "mean_speed_left_mps": 0.0792,
      "mean_speed_right_mps": 0.083,
      "file_size_mb": 2171.75,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_004.segment_00.pt",
      "source_episode": "2026-05-10/episode_004",
      "source_segment_idx": 0,
      "n_frames": 2406,
      "duration_s": 80.2,
      "source_pt_frame_range": [
        0,
        2405
      ],
      "source_h5_frame_range": [
        0,
        2405
      ],
      "contact_pct_left": 56.48,
      "contact_pct_right": 71.82,
      "mean_speed_left_mps": 0.0792,
      "mean_speed_right_mps": 0.0836,
      "file_size_mb": 564.3,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_005.segment_00.pt",
      "source_episode": "2026-05-10/episode_005",
      "source_segment_idx": 0,
      "n_frames": 763,
      "duration_s": 25.433,
      "source_pt_frame_range": [
        0,
        762
      ],
      "source_h5_frame_range": [
        0,
        762
      ],
      "contact_pct_left": 53.87,
      "contact_pct_right": 37.09,
      "mean_speed_left_mps": 0.0822,
      "mean_speed_right_mps": 0.0938,
      "file_size_mb": 179.09,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_006.segment_00.pt",
      "source_episode": "2026-05-10/episode_006",
      "source_segment_idx": 0,
      "n_frames": 3925,
      "duration_s": 130.833,
      "source_pt_frame_range": [
        0,
        3924
      ],
      "source_h5_frame_range": [
        0,
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      ],
      "contact_pct_left": 52.08,
      "contact_pct_right": 57.78,
      "mean_speed_left_mps": 0.0664,
      "mean_speed_right_mps": 0.0735,
      "file_size_mb": 920.45,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_007.segment_00.pt",
      "source_episode": "2026-05-10/episode_007",
      "source_segment_idx": 0,
      "n_frames": 1927,
      "duration_s": 64.233,
      "source_pt_frame_range": [
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      ],
      "source_h5_frame_range": [
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      ],
      "contact_pct_left": 36.17,
      "contact_pct_right": 43.9,
      "mean_speed_left_mps": 0.062,
      "mean_speed_right_mps": 0.0762,
      "file_size_mb": 452.0,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_008.segment_00.pt",
      "source_episode": "2026-05-10/episode_008",
      "source_segment_idx": 0,
      "n_frames": 1305,
      "duration_s": 43.5,
      "source_pt_frame_range": [
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        1304
      ],
      "source_h5_frame_range": [
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      ],
      "contact_pct_left": 33.1,
      "contact_pct_right": 39.16,
      "mean_speed_left_mps": 0.0596,
      "mean_speed_right_mps": 0.0746,
      "file_size_mb": 306.16,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_009.segment_00.pt",
      "source_episode": "2026-05-10/episode_009",
      "source_segment_idx": 0,
      "n_frames": 1823,
      "duration_s": 60.767,
      "source_pt_frame_range": [
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      ],
      "source_h5_frame_range": [
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      "contact_pct_left": 35.93,
      "contact_pct_right": 54.25,
      "mean_speed_left_mps": 0.0955,
      "mean_speed_right_mps": 0.118,
      "file_size_mb": 427.61,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_010.segment_00.pt",
      "source_episode": "2026-05-10/episode_010",
      "source_segment_idx": 0,
      "n_frames": 1035,
      "duration_s": 34.5,
      "source_pt_frame_range": [
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      ],
      "source_h5_frame_range": [
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      ],
      "contact_pct_left": 57.78,
      "contact_pct_right": 41.45,
      "mean_speed_left_mps": 0.1298,
      "mean_speed_right_mps": 0.1172,
      "file_size_mb": 242.86,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-10/episode_011.segment_00.pt",
      "source_episode": "2026-05-10/episode_011",
      "source_segment_idx": 0,
      "n_frames": 2201,
      "duration_s": 73.367,
      "source_pt_frame_range": [
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      ],
      "source_h5_frame_range": [
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      ],
      "contact_pct_left": 51.43,
      "contact_pct_right": 63.52,
      "mean_speed_left_mps": 0.1027,
      "mean_speed_right_mps": 0.1051,
      "file_size_mb": 516.24,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-11/episode_003.segment_00.pt",
      "source_episode": "2026-05-11/episode_003",
      "source_segment_idx": 0,
      "n_frames": 262,
      "duration_s": 8.733,
      "source_pt_frame_range": [
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      ],
      "source_h5_frame_range": [
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      ],
      "contact_pct_left": 28.63,
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      "mean_speed_left_mps": 0.2124,
      "mean_speed_right_mps": 0.1178,
      "file_size_mb": 61.62,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-11/episode_003.segment_01.pt",
      "source_episode": "2026-05-11/episode_003",
      "source_segment_idx": 1,
      "n_frames": 8327,
      "duration_s": 277.567,
      "source_pt_frame_range": [
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      ],
      "source_h5_frame_range": [
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      "contact_pct_left": 35.22,
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      "mean_speed_left_mps": 0.197,
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      "file_size_mb": 1952.53,
      "active_sensors": [
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      ]
    },
    {
      "path": "segments/motherboard/2026-05-11/episode_003.segment_02.pt",
      "source_episode": "2026-05-11/episode_003",
      "source_segment_idx": 2,
      "n_frames": 1424,
      "duration_s": 47.467,
      "source_pt_frame_range": [
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      ],
      "source_h5_frame_range": [
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      ],
      "contact_pct_left": 24.65,
      "contact_pct_right": 19.87,
      "mean_speed_left_mps": 0.2019,
      "mean_speed_right_mps": 0.1895,
      "file_size_mb": 334.06,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-11/episode_004.segment_00.pt",
      "source_episode": "2026-05-11/episode_004",
      "source_segment_idx": 0,
      "n_frames": 2638,
      "duration_s": 87.933,
      "source_pt_frame_range": [
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      ],
      "source_h5_frame_range": [
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      "contact_pct_left": 31.65,
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      "mean_speed_left_mps": 0.203,
      "mean_speed_right_mps": 0.1767,
      "file_size_mb": 618.7,
      "active_sensors": [
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      ]
    },
    {
      "path": "segments/motherboard/2026-05-11/episode_005.segment_00.pt",
      "source_episode": "2026-05-11/episode_005",
      "source_segment_idx": 0,
      "n_frames": 2594,
      "duration_s": 86.467,
      "source_pt_frame_range": [
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      ],
      "source_h5_frame_range": [
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      "contact_pct_left": 35.31,
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      "mean_speed_left_mps": 0.1655,
      "mean_speed_right_mps": 0.1583,
      "file_size_mb": 608.38,
      "active_sensors": [
        "left",
        "right"
      ]
    },
    {
      "path": "segments/motherboard/2026-05-11/episode_005.segment_01.pt",
      "source_episode": "2026-05-11/episode_005",
      "source_segment_idx": 1,
      "n_frames": 10199,
      "duration_s": 339.967,
      "source_pt_frame_range": [
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      "source_h5_frame_range": [
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      "contact_pct_left": 43.87,
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      "mean_speed_left_mps": 0.1651,
      "mean_speed_right_mps": 0.1446,
      "file_size_mb": 2391.44,
      "active_sensors": [
        "left",
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      ]
    },
    {
      "path": "segments/motherboard/2026-05-11/episode_005.segment_02.pt",
      "source_episode": "2026-05-11/episode_005",
      "source_segment_idx": 2,
      "n_frames": 1663,
      "duration_s": 55.433,
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      "source_h5_frame_range": [
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      "contact_pct_left": 52.44,
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      "mean_speed_left_mps": 0.1728,
      "mean_speed_right_mps": 0.1198,
      "file_size_mb": 390.1,
      "active_sensors": [
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      ]
    },
    {
      "path": "segments/motherboard/2026-05-11/episode_006.segment_00.pt",
      "source_episode": "2026-05-11/episode_006",
      "source_segment_idx": 0,
      "n_frames": 11990,
      "duration_s": 399.667,
      "source_pt_frame_range": [
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      "mean_speed_left_mps": 0.1316,
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      "file_size_mb": 2811.36,
      "active_sensors": [
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      ]
    },
    {
      "path": "segments/motherboard/2026-05-11/episode_007.segment_00.pt",
      "source_episode": "2026-05-11/episode_007",
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      "mean_speed_left_mps": 0.1001,
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      "file_size_mb": 1310.35,
      "active_sensors": [
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      ]
    },
    {
      "path": "segments/motherboard/2026-05-11/episode_007.segment_01.pt",
      "source_episode": "2026-05-11/episode_007",
      "source_segment_idx": 1,
      "n_frames": 1311,
      "duration_s": 43.7,
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      "file_size_mb": 307.57,
      "active_sensors": [
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      ]
    },
    {
      "path": "segments/motherboard/2026-05-11/episode_008.segment_00.pt",
      "source_episode": "2026-05-11/episode_008",
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      "file_size_mb": 511.55,
      "active_sensors": [
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    },
    {
      "path": "segments/motherboard/2026-05-11/episode_008.segment_01.pt",
      "source_episode": "2026-05-11/episode_008",
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      "mean_speed_left_mps": 0.1303,
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      "file_size_mb": 2223.57,
      "active_sensors": [
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      ]
    },
    {
      "path": "segments/motherboard/2026-05-11/episode_008.segment_02.pt",
      "source_episode": "2026-05-11/episode_008",
      "source_segment_idx": 2,
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      "active_sensors": [
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      ]
    },
    {
      "path": "segments/motherboard/2026-05-11/episode_009.segment_00.pt",
      "source_episode": "2026-05-11/episode_009",
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