| # 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/` covers `episode_000`–`episode_003` only. The 17:20/17:41 session |
| was published without depth. |
| * `previews/` covers every episode except `episode_003`: the preview panel is |
| rendered from the source recording, and that H5 has been deleted. |
|
|
