byang11259/stack_cubes_takes

43 episodes from 4 source recordings (10664 frames total), exported from raw portable-gripper captures.

Coordinate frame

Poses are in the marker frame, body frame tcp.

A world transform is baked into every pose, applied as Translate(world_offset) @ Rz(world_yaw) - rotate about the world origin first, then translate in the rotated frame:

• world_yaw: -90.0 deg about +Z (rotates orientations too)
• world_offset: [0.87, 0.175, 0.0107] m

A replay must therefore apply no additional yaw or workspace translation - the alignment is already in the data.

Episode windows

Each source recording holds several takes of the task; every kept window below was cut into its own episode (curation file stack_cubes_takes.json).

Windows are seconds on that episode's global synced clock (the shared two-camera time base), which is also what the source episode.yaml task_window/sync are expressed in. A window may be marginally narrower than the requested cut where real pose/video/gripper coverage ends sooner.

episode	source	window (s)	frames
0	vid50	7.00-16.66	290
1	vid51	7.00-16.00	270
2	vid51	20.50-28.50	240
3	vid51	32.00-43.00	330
4	vid51	49.50-57.00	225
5	vid51	62.00-72.00	300
6	vid51	75.50-85.20	291
7	vid52	7.20-15.80	258
8	vid52	19.50-28.50	270
9	vid52	33.00-42.50	285
10	vid52	47.00-56.00	270
11	vid52	60.20-68.30	243
12	vid52	73.00-82.00	270
13	vid52	86.00-94.00	240
14	vid52	98.00-108.00	300
15	vid52	112.00-120.00	240
16	vid52	124.60-134.00	282
17	vid52	139.00-149.00	300
18	vid53	7.50-14.00	195
19	vid53	18.50-26.00	225
20	vid53	30.00-38.50	255
21	vid53	44.00-51.50	225
22	vid53	56.00-64.00	240
23	vid53	68.50-76.50	240
24	vid53	80.00-88.00	240
25	vid53	92.00-100.00	240
26	vid53	104.00-111.00	210
27	vid53	116.00-124.00	240
28	vid53	129.00-138.00	270
29	vid53	141.00-149.00	240
30	vid53	154.00-161.00	210
31	vid53	168.00-175.00	210
32	vid53	179.00-186.00	210
33	vid53	189.00-197.00	240
34	vid53	201.00-209.00	240
35	vid53	213.50-221.50	240
36	vid53	225.00-232.50	225
37	vid53	237.00-244.00	210
38	vid53	248.00-256.00	240
39	vid53	260.00-266.50	195
40	vid53	271.00-278.00	210
41	vid53	283.00-291.00	240
42	vid53	295.00-304.00	270

Requested cuts, by source

source	takes	requested windows (s)
vid50	1	7.00-16.66
vid51	6	7.00-16.00, 20.50-28.50, 32.00-43.00, 49.50-57.00, 62.00-72.00, 75.50-85.20
vid52	11	7.20-15.80, 19.50-28.50, 33.00-42.50, 47.00-56.00, 60.20-68.30, 73.00-82.00, 86.00-94.00, 98.00-108.00, 112.00-120.00, 124.60-134.00, 139.00-149.00
vid53	25	7.50-14.00, 18.50-26.00, 30.00-38.50, 44.00-51.50, 56.00-64.00, 68.50-76.50, 80.00-88.00, 92.00-100.00, 104.00-111.00, 116.00-124.00, 129.00-138.00, 141.00-149.00, 154.00-161.00, 168.00-175.00, 179.00-186.00, 189.00-197.00, 201.00-209.00, 213.50-221.50, 225.00-232.50, 237.00-244.00, 248.00-256.00, 260.00-266.50, 271.00-278.00, 283.00-291.00, 295.00-304.00

Provenance

• generated: 2026-08-14T12:37:12
• full per-episode source/window and the per-arm extrinsic chain: meta/export_provenance.json