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Re-pack trajs: per-episode input_source, cadence stamps, numpy-1 pickles, +697 verified episodes

#27
by Everloom - opened
base: refs/heads/main
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from: refs/pr/27
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Files changed (50) hide show
  1. trajs/INPUT_SOURCE_PROVENANCE.md +57 -0
  2. trajs/parrot/bimanual_lift_box/openarm_wuji/trajectory.pkl.gz +2 -2
  3. trajs/parrot/bimanual_lift_box/tianji_wuji/trajectory.pkl.gz +2 -2
  4. trajs/parrot/close_cabinet_12/tianji_wuji/trajectory.pkl.gz +3 -0
  5. trajs/parrot/collect_fruit_bowl/tianji_wuji/trajectory.pkl.gz +2 -2
  6. trajs/parrot/feast/tianji_wuji/trajectory.pkl.gz +2 -2
  7. trajs/parrot/flip_mug/tianji_wuji/trajectory.pkl.gz +2 -2
  8. trajs/parrot/fruit_tray/tianji_wuji/trajectory.pkl.gz +2 -2
  9. trajs/parrot/grasp_adjustable_wrench/tianji_wuji/trajectory.pkl.gz +2 -2
  10. trajs/parrot/grasp_apple/tianji_wuji/trajectory.pkl.gz +2 -2
  11. trajs/parrot/grasp_banana/tianji_wuji/trajectory.pkl.gz +2 -2
  12. trajs/parrot/grasp_bottle/tianji_wuji/trajectory.pkl.gz +2 -2
  13. trajs/parrot/grasp_candle/tianji_wuji/trajectory.pkl.gz +2 -2
  14. trajs/parrot/grasp_cuboid/tianji_wuji/trajectory.pkl.gz +2 -2
  15. trajs/parrot/grasp_cup/tianji_wuji/trajectory.pkl.gz +2 -2
  16. trajs/parrot/grasp_cylinder/tianji_wuji/trajectory.pkl.gz +2 -2
  17. trajs/parrot/grasp_hammer/tianji_wuji/trajectory.pkl.gz +2 -2
  18. trajs/parrot/grasp_in_clutter/tianji_wuji/trajectory.pkl.gz +2 -2
  19. trajs/parrot/grasp_master_chef_can/tianji_wuji/trajectory.pkl.gz +2 -2
  20. trajs/parrot/grasp_mug/tianji_wuji/trajectory.pkl.gz +2 -2
  21. trajs/parrot/grasp_mustard_bottle/tianji_wuji/trajectory.pkl.gz +2 -2
  22. trajs/parrot/grasp_orange/tianji_wuji/trajectory.pkl.gz +2 -2
  23. trajs/parrot/grasp_pear/tianji_wuji/trajectory.pkl.gz +2 -2
  24. trajs/parrot/grasp_phillips_screwdriver/tianji_wuji/trajectory.pkl.gz +2 -2
  25. trajs/parrot/grasp_power_drill/tianji_wuji/trajectory.pkl.gz +2 -2
  26. trajs/parrot/grasp_spatula/tianji_wuji/trajectory.pkl.gz +2 -2
  27. trajs/parrot/grasp_sphere/tianji_wuji/trajectory.pkl.gz +2 -2
  28. trajs/parrot/grasp_two_bimanual/tianji_wuji/trajectory.pkl.gz +2 -2
  29. trajs/parrot/hammer_insert_nail/tianji_wuji/trajectory.pkl.gz +3 -0
  30. trajs/parrot/hammer_insert_nail_wall/tianji_wuji/trajectory.pkl.gz +2 -2
  31. trajs/parrot/handover_ball/tianji_wuji/trajectory.pkl.gz +2 -2
  32. trajs/parrot/nest_cups/tianji_wuji/trajectory.pkl.gz +2 -2
  33. trajs/parrot/open_microwave_2/tianji_wuji/trajectory.pkl.gz +2 -2
  34. trajs/parrot/pack_box/openarm_wuji/trajectory.pkl.gz +2 -2
  35. trajs/parrot/pack_box/tianji_wuji/trajectory.pkl.gz +2 -2
  36. trajs/parrot/pen_in_holder/tianji_wuji/trajectory.pkl.gz +2 -2
  37. trajs/parrot/place_apple_in_bin/openarm_wuji/trajectory.pkl.gz +2 -2
  38. trajs/parrot/place_apple_in_bin/tianji_wuji/trajectory.pkl.gz +2 -2
  39. trajs/parrot/place_can_in_box/tianji_wuji/trajectory.pkl.gz +2 -2
  40. trajs/parrot/place_candle_in_box/tianji_wuji/trajectory.pkl.gz +2 -2
  41. trajs/parrot/place_cup_in_box/openarm_wuji/trajectory.pkl.gz +2 -2
  42. trajs/parrot/place_cup_in_box/tianji_wuji/trajectory.pkl.gz +2 -2
  43. trajs/parrot/pour_bottle_cup/tianji_wuji/trajectory.pkl.gz +2 -2
  44. trajs/parrot/pour_kettle_cup/openarm_wuji/trajectory.pkl.gz +2 -2
  45. trajs/parrot/pour_kettle_cup/tianji_wuji/trajectory.pkl.gz +2 -2
  46. trajs/parrot/pour_pitcher_bowl/tianji_wuji/trajectory.pkl.gz +2 -2
  47. trajs/parrot/rotate_mug/tianji_wuji/trajectory.pkl.gz +2 -2
  48. trajs/parrot/sort_bins/tianji_wuji/trajectory.pkl.gz +2 -2
  49. trajs/parrot/stack_cubes/tianji_wuji/trajectory.pkl.gz +2 -2
  50. trajs/parrot/trash_bin/tianji_wuji/trajectory.pkl.gz +2 -2
trajs/INPUT_SOURCE_PROVENANCE.md ADDED
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+ # Input-source provenance & 2026-08-08 re-pack
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+
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+ Every episode in `trajs/parrot/` and `trajs/parrot_60Hz/` now carries
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+ `_meta.input_source`:
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+
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+ | value | meaning |
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+ | --- | --- |
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+ | `quest_hand` | Quest bare-hand tracking (single-process teleop lane, or the netsim chain's `quest-hand` source) |
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+ | `quest_controller_manus` | Quest controllers for wrists + Manus glove for fingers (netsim chain, `quest-controller` source) |
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+
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+ ## How historical episodes were labelled
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+
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+ Recordings made before 2026-08-08 carried no source field (the netsim wire
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+ protocol is source-blind), so the label was reconstructed and then confirmed
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+ by the operator:
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+
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+ 1. **Code history bounds.** The Manus netsim source graph first exists at
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+ Parrot `ea0d1ab` (2026-08-04 15:50); the console's source menu with
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+ `quest-controller` as default landed 2026-08-05 21:01 (WUJI_SimBench #96).
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+ Every netsim take before 08-04 can only be bare-hand.
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+ 2. **Motion fingerprints.** Ring↔pinky joint-trajectory correlation
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+ (Quest hand-tracking couples them, median ≈0.92 on 150 known bare-hand
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+ console takes; the glove measures them independently, ≈0.43 on the late
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+ sessions) and 40-channel activity profiles (glove sessions drive thumb
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+ joint1 far more, finger3/4/5 joint1+joint4 far less).
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+ 3. **Operator confirmation** of the one ambiguous session.
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+
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+ **Boundary: netsim sessions >= 2026-08-06 13:25 (user-confirmed 2026-08-08).**
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+ Sessions at/after it are `quest_controller_manus`; every earlier take
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+ (console and netsim) is `quest_hand`. Backfilled episodes carry
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+ `_meta.input_source_provenance = backfilled_2026-08-08` (pre-existing
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+ episodes) or `labelled_2026-08-08` (episodes first published here); takes
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+ recorded after WUJI_SimBench #102 are stamped at collection time instead.
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+
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+ ## What else this re-pack changed
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+
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+ - Base revision: `main@51f74d2e1c1b`. All 62 bundles rewritten in place;
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+ no bundle was moved or removed. Both cadence roots are kept as equals:
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+ `trajs/parrot/` = 100 Hz (and legacy unstamped = 100 Hz), `trajs/parrot_60Hz/` = 60 Hz.
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+ Readers keep their existing preference (`trajs/parrot` first).
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+ - Cadence stamps normalized: every bundle's metadata now carries explicit
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+ `control_freq_hz` / `sim_dt` / `decimation` (100 Hz bundles gained the
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+ stamp; it equals the task-authored cadence, so replay is unchanged).
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+ - 697 newly replay-verified episodes merged in (state-replay through the
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+ task checker, mujoco 3.8.0 / dm_control 1.0.40; dedup by rounded action-md5).
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+ - Re-serialized under numpy 1.x: the previous uploads were numpy-2 pickles,
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+ unreadable under the pinned delivery stack (numpy<2) without a
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+ `numpy._core` shim. numpy-1 pickles load under both numpy 1 and 2.
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+
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+ ## Totals
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+
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+ - bundles: 62 (2 new)
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+ - episodes: 4559 (+697 in this PR)
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+ - by source: quest_hand 3869 · quest_controller_manus 690
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+
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+ Per-bundle counts live in the PR description; the analysis notebook and the
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+ interactive report are archived on the WUJI SimBench side.
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