{
  "tasks": {
    "motherboard": {
      "language": "Bimanual manipulation of components on a computer motherboard.",
      "purpose": "Dense, contact-rich, synchronized multimodal interaction data for tactile-visual dynamics / world-model learning. Not a policy-learning / demonstration dataset.",
      "operator": "human hands (handheld GelSight Mini sensors with motion-capture rigid bodies; no robot arm involved)",
      "embodiment": "human",
      "dates": [
        "2026-05-10",
        "2026-05-11"
      ],
      "per_date_notes": {
        "2026-05-10": {
          "kind": "session",
          "active_sensors": [
            "left",
            "right"
          ],
          "note": "First full bimanual recording session."
        },
        "2026-05-11": {
          "kind": "session",
          "active_sensors": [
            "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."
        },
        "2026-05-19": {
          "kind": "session",
          "active_sensors": [
            "left",
            "right"
          ],
          "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=0.230, 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.",
          "world_frame_offset_applied": [
            0.23,
            0.0,
            0.175
          ]
        }
      },
      "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",
  "layout": "processed/mode1_v1/<task>/<date>/episode_*.{pt,contact.json}  (raw with bad intervals)  OR  processed/mode2_v1/<task>/<date>/episode_*.segment_*.pt  (pre-sliced clean segments; see segments.json)",
  "mode2_v1": {
    "description": "Same recordings as mode1_v1 but sliced at every bad-frames boundary into contiguous clean segments. Use with examples/react_segment_dataset.py.",
    "n_segments": 73,
    "total_frames": 188442,
    "total_duration_min": 104.69,
    "manifest": "segments.json"
  }
}