{
  "dataset": "React",
  "format": "video (LeRobot-style: per-camera MP4 + per-episode parquet; depth as FFV1 16-bit MKV)",
  "resolution": "640x480",
  "fps": 30,
  "video_streams": [
    "view_left",
    "view_middle",
    "view_right",
    "tactile_left",
    "tactile_right"
  ],
  "depth_streams": [
    "depth_left",
    "depth_middle",
    "depth_right"
  ],
  "parquet_columns": [
    "frame_idx",
    "timestamp",
    "sensor_left_pose",
    "sensor_right_pose",
    "object_pose",
    "tactile_{L,R}_{intensity,area,mixed}",
    "source_h5_frame"
  ],
  "decoded_color": "RGB",
  "tasks": {
    "motherboard": {
      "n_episodes": 32,
      "dates": [
        "2026-05-10",
        "2026-05-11",
        "2026-05-19"
      ],
      "n_frames": 194445,
      "duration_min": 108.0,
      "n_segments": 76,
      "clean_min": 107.04,
      "bad_fraction": 0.009,
      "active_sensors": [
        "left",
        "right"
      ],
      "calibration_id": "may-12",
      "calibration_created": "2026-05-12",
      "calibration_rmse_unit": "mm",
      "object_tracked_episodes": 32,
      "depth_available_episodes": 32,
      "depth_units": "mm",
      "depth_invalid_value": 0,
      "gelsight_left_serial": "2BGLKZNT/2DUPB53G",
      "note": "Bimanual handheld tactile-visual interaction. Object pose (the board) tracked. 05-19 has a redefined OptiTrack world origin; offset (0.23,0,0.175)m baked into poses."
    },
    "pushT": {
      "n_episodes": 4,
      "dates": [
        "2026-06-18"
      ],
      "n_frames": 45595,
      "duration_min": 25.3,
      "n_segments": 17,
      "clean_min": 25.16,
      "bad_fraction": 0.0067,
      "active_sensors": [
        "left",
        "right"
      ],
      "calibration_id": "june-26",
      "calibration_created": "2026-06-26",
      "calibration_rmse_unit": "px",
      "object_tracked_episodes": 0,
      "depth_available_episodes": 4,
      "depth_units": "mm",
      "depth_invalid_value": 0,
      "gelsight_left_serial": "2DUPB53G",
      "note": "Push-T manipulation. Recalibrated cameras (June-26). Object rigid body was not tracked (object_pose = NaN). episode_004 source H5 corrupt, excluded."
    }
  },
  "download": {
    "core_size_gb": 4.4,
    "depth_size_gb": 33,
    "total_size_gb": 37.4,
    "depth_optional": true,
    "depth_note": "Depth lives in data/<task>/depth/ as a separate subtree. Skip it with snapshot_download(ignore_patterns=[\"*/depth/*\"]) or examples/download.py --no-depth. The ReactVideoDataset loader ignores depth unless load_depth=True.",
    "helpers": {
      "core_only": "python examples/download.py --no-depth",
      "with_depth": "python examples/download.py",
      "middle_depth_only": "python examples/download.py --depth-cams middle"
    }
  },
  "tactile_latency": {
    "frames_estimate": 15,
    "fps": 30,
    "seconds_estimate": 0.5,
    "applies_to": "all recordings up to and including 2026-06-18",
    "fixed_in_rig": "2026-06-27",
    "cause": "recording-side cv2.VideoCapture V4L2 buffer never flushed (throttled reads + no BUFFERSIZE=1 + default pixfmt)",
    "compensation": "ReactVideoDataset(tactile_latency=15) pairs view[i] with tactile[i+15]; shifts tactile videos + contact scalars only",
    "note": "Recordings up to 2026-06-18 had a ~15-frame GelSight buffer lag; it has been baked out of the published tactile videos + contact scalars. No loader compensation needed. Rig fixed 2026-06-27.",
    "status": "CORRECTED_IN_DATA",
    "frames_shifted": 15,
    "method": "tactile streams shifted +15 frames (rebuilt from raw H5) so tactile[i] aligns with view[i]/pose[i]"
  }
}