| { | |
| "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.", | |
| "dates": ["2026-03-23", "2026-05-10", "2026-05-11"], | |
| "per_date_notes": { | |
| "2026-03-23": { | |
| "kind": "pilot", | |
| "active_sensors": ["right"], | |
| "note": "Early trials. ONLY the right GelSight + right rigid body were used. The left tactile stream is essentially flat (peak intensity ≤ 1.4 vs ≥ 12 when active) and the left OptiTrack pose is not informative — treat as right-sensor-only data." | |
| }, | |
| "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. A few GelSight LED-flicker frames and one mocap teleport event — see bad_frames.json." | |
| } | |
| }, | |
| "n_episode_files": 30, | |
| "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." | |
| } | |
| }, | |
| "schema_version": "mode1_v1", | |
| "layout": "processed/mode1_v1/<task>/<date>/episode_*.{pt,contact.json}" | |
| } | |