DeskTaskTac/README.md

# DeskTaskTac Sample

`DeskTaskTac` contains two complete-episode desk-task samples:

| subset | episodes | frames | videos | notes |
| --- | ---: | ---: | ---: | --- |
| `RawHandPip` | 10 | 10,974 | 10 | raw-hand desk-task episodes |
| `AprilTagPip` | 4 | 11,104 | 4 | AprilTag-assisted desk-task episodes |

Both subsets follow the release layout described in the top-level README and include top-view MP4 videos. Episode ids, task ids, parquet paths, and video paths are local to this release package.

## Schema Consistency

`RawHandPip` and `AprilTagPip` share the same 38-column per-frame schema. Common frame fields are documented in the top-level `README.md`. This file lists DeskTaskTac-specific fields and metadata.

The two DeskTaskTac subsets differ in collection/reconstruction pipeline and episode-level metadata:

- `RawHandPip`: raw-hand desk-task episodes. The raw-hand pipeline recovers hand state from image keypoint detection and multi-view triangulation, with tactile glove readings.
- `AprilTagPip`: AprilTag-assisted desk-task episodes. The AprilTag pipeline uses scene AprilTags and hand reference structures to recover bimanual poses, with tactile and MoCap glove information.

## Loading Notes

- `RawHandPip` and `AprilTagPip` share one per-frame schema.
- Read `meta/features.json` before selecting parquet columns.
- `meta/episodes.parquet` contains subset-specific auxiliary columns.
- `state.eef_*` is the hand wrist/anchor pose in `first_person_camera_opencv`.
- Resolve `video.top_view` relative to the subset root.
- `timestamp` is episode-relative seconds; `timestamp_ms` preserves the captured millisecond timeline.

## DeskTaskTac-Specific Per-Frame Fields

DeskTaskTac adds dexhand and TacGlove tactile fields on top of the common schema.

| field | dtype / shape | meaning |
| --- | --- | --- |
| `state.dexhand_position` | `float32[6]` | Right-side dexhand/hand-position state vector. |
| `state.left_dexhand_position` | `float32[6]` | Left-side dexhand/hand-position state vector. |
| `action.dexhand_position` | `float32[6]` | Right-side dexhand/hand-position action vector. |
| `action.left_dexhand_position` | `float32[6]` | Left-side dexhand/hand-position action vector. |
| `tactile.right_tacglove` | `float32[137]` | Right-hand TacGlove tactile vector. |
| `tactile.left_tacglove` | `float32[137]` | Left-hand TacGlove tactile vector. |
| `tactile_pred.right_tacglove` | `float32[137]` | Right-hand predicted or processed TacGlove tactile vector. |
| `tactile_pred.left_tacglove` | `float32[137]` | Left-hand predicted or processed TacGlove tactile vector. |

## Pose And Timing Notes

- `state.eef_position` and `state.eef_rotation` are right-hand wrist/anchor pose fields in `first_person_camera_opencv`, not robot EEF fields.
- `state.left_eef_position` and `state.left_eef_rotation` are the left-hand equivalents.
- `action.eef_*` and `action.left_eef_*` are declared with `absolute=false`; treat them as action targets or deltas according to the original conversion policy.
- `timestamp` is episode-relative seconds on the captured first-person video timeline.
- `timestamp_ms` preserves the captured millisecond timeline timestamp. It is not simply `frame_index * 1000 / 30`.
- `video.top_view_frame_index` matches `frame_index` in this sample.
- `manus_frame_index` is meaningful when a Manus/MoCap source was available. In RawHand episodes it is commonly `-1`; in AprilTag episodes it may contain source frame indices.

## Tactile Representation

DeskTaskTac tactile fields are 137-D TacGlove vectors for the right and left hands. The paired `tactile_pred.*` fields keep the same shape and represent predicted or processed tactile values for the corresponding hand.

DeskTaskTac combines first-person camera timeline alignment, wrist pose, MANO `theta`/`beta`, tactile glove signals, top-view video, and task labels.

## Episode Metadata

The per-frame parquet schema is the same for `RawHandPip` and `AprilTagPip`, but `meta/episodes.parquet` is not identical between the two subsets.

Common DeskTaskTac episode-level fields include:

| field | meaning |
| --- | --- |
| `episode_index` | Episode id within the release subset. |
| `session_name`, `session_dir` | Release-local episode/session identifiers. |
| `length` | Number of frames in the episode. |
| `task_index`, `task` | Task id and task name. |
| `fps` | Nominal frame rate, `30.0`. |
| `camera_serials` | Camera selection string used by the subset metadata. |
| `multiview_min_hand_tags` | Minimum required hand tags/views in the source pipeline. |
| `rts_smooth_wrist_pose` | Whether wrist pose smoothing was enabled. |
| `first_person_camera_serial` | First-person camera id, usually `camera_0`. |
| `video.top_view` | Relative top-view video path. |
| `parquet_path` | Relative path to the episode parquet file. |
| `mano_device` | Device used for MANO processing, such as `cpu`. |
| `duration_seconds` | Episode duration in seconds. |
| `timeline_mode`, `timeline_camera_serial` | Timeline alignment mode and reference camera. |
| `pad_frozen_data`, `manus_frozen_left`, `manus_frozen_right` | Flags for padded or frozen source data. |

`RawHandPip` also includes extra raw-hand processing fields such as `pipeline_mode`, `hand_2d_backend`, `interpolation_space`, and `trusted_3d_*`. `AprilTagPip` has a smaller episode-level metadata table.

## Task Names

`meta/tasks.jsonl` maps `task_index` to desk-task names. Examples include `assemble_lego`, `operate_desk_lamp`, `fold_paper`, `work_with_cylinder`, `operate_calculator`, and `play_tangram`.

## Release Files

Each subset contains the standard release layout: `data/`, `meta/`, `meta/episode_records/`, and `videos/video.top_view/`.

Subset counts are summarized above and in the top-level `README.md`. Field definitions shared by both subsets are listed in `SCHEMA.md`.