| --- |
| license: cc-by-nc-4.0 |
| task_categories: |
| - robotics |
| - image-to-3d |
| language: |
| - en |
| tags: |
| - egotouch |
| - tactile |
| - vitra |
| - mano |
| - hand-object-interaction |
| - corrected-mano |
| --- |
| |
| # egotouch-annotations-v1-leftfix |
|
|
| **Annotations only. This repository does not contain images or video.** |
|
|
| This release corrects the left-hand MANO rotation convention in |
| [`egotouch-annotations-v1`](https://huggingface.co/datasets/MIT-Media-Lab/egotouch-annotations-v1). |
| It keeps the original episode structure, instructions, tactile data, and sample index. |
|
|
| | Item | Count | |
| |---|---:| |
| | Episodes | 111,159 | |
| | Frames and training samples | 3,687,389 | |
| | Repaired left-hand episodes | 54,373 | |
| | Repaired left-hand frames | 1,781,845 | |
| | Unchanged right-only episodes | 56,786 | |
|
|
| ## Correction |
|
|
| The source pipeline generated left-hand joints by mirroring a right-hand MANO model. |
| However, it stored the rotation matrices in the original right-hand convention. |
| This mismatch gave incorrect MANO-local coordinates for the left hand. |
|
|
| Let `M = diag(-1, 1, 1)`. This release applies these operations to left-hand episodes: |
|
|
| ```python |
| global_orient_camspace = M @ global_orient_camspace @ M |
| hand_pose[:, joint] = M @ hand_pose[:, joint] @ M |
| global_orient_worldspace = R_camera_to_world @ global_orient_camspace |
| ``` |
|
|
| Reflection conjugation keeps each corrected matrix in `SO(3)`. |
| The correction does not mirror joints or translations again. |
|
|
| ## Unchanged data |
|
|
| The following data is unchanged: |
|
|
| - `joints_camspace` and `joints_worldspace` |
| - `transl_camspace`, `transl_worldspace`, and wrist positions |
| - tactile pressure grids |
| - MANO shape parameters (`beta`) |
| - camera intrinsics and extrinsics |
| - RGB frame references (`video_decode_frame`) |
| - instructions and paraphrases |
| - episode membership and frame counts |
| - all right-hand annotations |
|
|
| ## Files |
|
|
| ```text |
| egotouch.tar |
| Annotation/egotouch/episodic_annotations/*.npy |
| |
| episode_frame_index.npz |
| index_frame_pair (3,687,389, 2) uint32 |
| index_to_episode_id (111,159,) |
| |
| full_repair_audit.json |
| source and corrected hashes, counts, and validation results |
| ``` |
|
|
| The index is byte-identical to the parent release. |
| Each row of `index_frame_pair` gives an episode ordinal and a frame number. |
|
|
| ## Load one sample |
|
|
| Extract `egotouch.tar`. Then load a sample with this code: |
|
|
| ```python |
| import numpy as np |
| |
| sample_id = 0 |
| index = np.load("episode_frame_index.npz", allow_pickle=True) |
| episode_slot, frame_id = index["index_frame_pair"][sample_id] |
| episode_id = str(index["index_to_episode_id"][episode_slot]) |
| |
| path = f"Annotation/egotouch/episodic_annotations/{episode_id}.npy" |
| episode = np.load(path, allow_pickle=True).item() |
| rgb_frame_id = int(episode["video_decode_frame"][frame_id]) |
| ``` |
|
|
| Each episode stores MANO parameters, camera data, world-space joints, camera-space joints, |
| tactile grids, instructions, paraphrases, and absolute RGB frame indices. |
| The `anno_type` field identifies the target hand for the episode. |
|
|
| ## Coordinate convention |
|
|
| The per-frame `extrinsics` matrices use the world-to-camera convention. |
| The `global_orient_camspace` and `global_orient_worldspace` fields contain rotation matrices. |
| The world frame stays fixed within each source recording. |
|
|
| Chunk-level anchor-camera conversion belongs in the VITRA data loader. |
| This release does not bake an anchor-camera frame into the stored annotations. |
|
|
| ## Validation |
|
|
| The full release passed these checks: |
|
|
| - all 111,159 archive members load successfully. |
| - archive names and order match the parent release. |
| - episode identifiers and frame counts match the index. |
| - no index row points outside an episode. |
| - the maximum rotation determinant error is `5.65e-7`. |
| - the maximum rotation orthogonality error is `6.34e-5`. |
| - the maximum camera-to-world orientation consistency error is `0.0`. |
| - sampled right-only episodes are byte-identical to the parent release. |
|
|
| The audit file contains the archive hashes and exact validation counts. |
|
|
| ## Compatibility |
|
|
| Use this release for training that derives left-hand MANO-local coordinates from stored rotations. |
| Rebuild action caches that were made from the uncorrected left-hand rotation fields. |
|
|
| Caches that use only stored joints and tactile grids do not change numerically. |
| Their training protocol can still require a new comparison run for reproducibility. |
|
|
| ## RGB frames |
|
|
| The `video_decode_frame` field indexes the source EgoTouch video. |
| Get the video from the [EgoTouch source release](https://huggingface.co/datasets/zhouzhoujy/EgoTouch). |
|
|
| ## Integrity |
|
|
| ```text |
| egotouch.tar |
| fe49162862d792861612c6405eebba958197a30df519a6e0fe1aa3e1db3f3088 |
| |
| episode_frame_index.npz |
| f9908d8733f00382a8fd762a1c8ab6f4b34fa47c5603c512c29fa66e31f47343 |
| ``` |
|
|
