validation — the 2026-09-09 calibration epoch
Everything recorded on 2026-09-09 lives here, kept out of data/motherboard
and data/pushT because it does not share those trees' calibration epoch.
Same rig, same processing pipeline; a separate folder so nothing silently
inherits the wrong extrinsics. calibration/ holds the epoch solved that
morning at 07:41 (calib_points_20260909_074139.json).
9 episodes, 25.2 minutes, two tasks.
| episode | task | frames | duration | segments | bad frames | source recording |
|---|---|---|---|---|---|---|
| episode_000 | motherboard | 6661 | 222.0 s | 1 | 0 | motherboard/2026-09-09/episode_000 |
| episode_001 | motherboard | 6755 | 225.2 s | 1 | 0 | motherboard/2026-09-09/episode_001 |
| episode_002 | motherboard | 5647 | 188.2 s | 1 | 0 | motherboard/2026-09-09/episode_002 |
| episode_003 | pushT | 13484 | 449.5 s | 62 | 1147 | pushT/2026-09-09/episode_000 |
| episode_004 | motherboard | 1995 | 66.5 s | 1 | 0 | motherboard/2026-09-09/episode_000_seg00 |
| episode_005 | motherboard | 1870 | 62.3 s | 1 | 0 | motherboard/2026-09-09/episode_001_seg00 |
| episode_006 | motherboard | 1465 | 48.8 s | 1 | 0 | motherboard/2026-09-09/episode_001_seg01 |
| episode_007 | motherboard | 4489 | 149.6 s | 1 | 0 | motherboard/2026-09-09/episode_001_seg02 |
| episode_008 | motherboard | 2942 | 98.1 s | 1 | 0 | motherboard/2026-09-09/episode_001_seg03 |
Episode numbers do not identify a recording
The recorder reuses episode numbers within a date. motherboard/2026-09-09/episode_000.h5
was written four times that day, each write replacing the last.
episode_000–episode_002 here are the 04:00 session; episode_004–episode_008
are the 17:20/17:41 session — different recordings that happened to be given
the same numbers.
So the arrivals were renumbered onto the end of the folder rather than merged
by name, and every row of episodes.jsonl carries source_recording, naming
the file it actually came from. task is likewise per-episode now:
segments.json and bad_frames.json used to carry one task at the top, and
this folder holds two.
episode_003 was previously published as data/pushT_2026-09-09/episode_000
and is the same data, renumbered. That path has been removed.
Two cutting policies
| episodes | floor | how they were published |
|---|---|---|
| 000–003 | 16 frames | whole episodes; segments.json indexes the clean spans inside them |
| 004–008 | 900 frames (30 s) | already cut — each file is one clean span, so it carries no defects |
For 000–003 you must honour segments.json: those videos contain flagged
frames. For 004–008 you need not — the flagged frames are the gaps between
episodes, which is why their coverage of the recording is not contiguous.
The withdrawn pushT_2026-09-09 folder shipped a segment index claiming
n_segments: 79 over an empty list, while its own episode index said 62. Recomputing the clean spans from
bad_frames.json at the documented 16-frame floor reproduces 62 spans and
1147 bad frames exactly, so the merged file carries the rebuilt list.
Format
meta/<date>/<episode>.parquet, videos/<date>/<episode>/*.mp4 — three
RealSense views (view_left, view_middle, view_right), two GelSights
(tactile_left, tactile_right) and the two Arducam wrist cameras
(wrist_left, wrist_right). Poses are Z-up.
duration_s throughout is n_frames / 30, the nominal write tick. The
RealSense streams actually run at 29.80 Hz and the GelSights reach about
17.8 Hz against that tick, so roughly 40 % of tactile frames repeat the
previous one — tactile_*_is_new marks which are real.
Two gaps worth knowing:
depth/coversepisode_000–episode_003only. The 17:20/17:41 session was published without depth.previews/covers every episode exceptepisode_003: the preview panel is rendered from the source recording, and that H5 has been deleted.