| { |
| "dataset_name": "RawHandPip", |
| "dataset_type": "lerobot_episode_dataset", |
| "codebase_version": "h_tac_desktask_tac_v1", |
| "fps": 30.0, |
| "total_episodes": 10, |
| "total_frames": 10974, |
| "total_tasks": 10, |
| "video_features": [ |
| "video.top_view" |
| ], |
| "paths": { |
| "data": "data/episode_*.parquet", |
| "episodes": "meta/episodes.parquet", |
| "tasks": "meta/tasks.jsonl", |
| "features": "meta/features.json", |
| "videos": "videos/video.top_view/episode_*.mp4" |
| }, |
| "modalities": { |
| "language.instruction": { |
| "source_column": "task_index", |
| "start": 0, |
| "end": 0, |
| "lookup_path": "meta/tasks.jsonl" |
| }, |
| "state.eef_position": { |
| "source_column": "state.eef_position", |
| "start": 0, |
| "end": 3, |
| "coordinate_frame": "first_person_camera_opencv" |
| }, |
| "state.eef_rotation": { |
| "source_column": "state.eef_rotation", |
| "start": 0, |
| "end": 3, |
| "coordinate_frame": "first_person_camera_opencv", |
| "rotation_type": "axis_angle" |
| }, |
| "state.left_eef_position": { |
| "source_column": "state.left_eef_position", |
| "start": 0, |
| "end": 3, |
| "coordinate_frame": "first_person_camera_opencv" |
| }, |
| "state.left_eef_rotation": { |
| "source_column": "state.left_eef_rotation", |
| "start": 0, |
| "end": 3, |
| "coordinate_frame": "first_person_camera_opencv", |
| "rotation_type": "axis_angle" |
| }, |
| "state.dexhand_position": { |
| "source_column": "state.dexhand_position", |
| "start": 0, |
| "end": 6 |
| }, |
| "state.left_dexhand_position": { |
| "source_column": "state.left_dexhand_position", |
| "start": 0, |
| "end": 6 |
| }, |
| "state.right_beta": { |
| "source_column": "state.right_beta", |
| "start": 0, |
| "end": 10 |
| }, |
| "state.left_beta": { |
| "source_column": "state.left_beta", |
| "start": 0, |
| "end": 10 |
| }, |
| "state.right_theta": { |
| "source_column": "state.right_theta", |
| "start": 0, |
| "end": 45 |
| }, |
| "state.left_theta": { |
| "source_column": "state.left_theta", |
| "start": 0, |
| "end": 45 |
| }, |
| "state.first_person_camera_position_world": { |
| "source_column": "state.first_person_camera_position_world", |
| "start": 0, |
| "end": 3, |
| "coordinate_frame": "world_scene" |
| }, |
| "state.first_person_camera_rotation_world": { |
| "source_column": "state.first_person_camera_rotation_world", |
| "start": 0, |
| "end": 3, |
| "coordinate_frame": "world_scene", |
| "rotation_type": "axis_angle" |
| }, |
| "tactile.right_tactile": { |
| "source_column": "tactile.right_tacglove", |
| "start": 0, |
| "end": 137 |
| }, |
| "tactile.left_tactile": { |
| "source_column": "tactile.left_tacglove", |
| "start": 0, |
| "end": 137 |
| }, |
| "tactile_pred.right_tacglove": { |
| "source_column": "tactile_pred.right_tacglove", |
| "start": 0, |
| "end": 137 |
| }, |
| "tactile_pred.left_tacglove": { |
| "source_column": "tactile_pred.left_tacglove", |
| "start": 0, |
| "end": 137 |
| }, |
| "action.eef_position": { |
| "source_column": "action.eef_position", |
| "start": 0, |
| "end": 3, |
| "absolute": false, |
| "coordinate_frame": "first_person_camera_opencv" |
| }, |
| "action.eef_rotation": { |
| "source_column": "action.eef_rotation", |
| "start": 0, |
| "end": 3, |
| "absolute": false, |
| "coordinate_frame": "first_person_camera_opencv", |
| "rotation_type": "axis_angle" |
| }, |
| "action.left_eef_position": { |
| "source_column": "action.left_eef_position", |
| "start": 0, |
| "end": 3, |
| "absolute": false, |
| "coordinate_frame": "first_person_camera_opencv" |
| }, |
| "action.left_eef_rotation": { |
| "source_column": "action.left_eef_rotation", |
| "start": 0, |
| "end": 3, |
| "absolute": false, |
| "coordinate_frame": "first_person_camera_opencv", |
| "rotation_type": "axis_angle" |
| }, |
| "action.dexhand_position": { |
| "source_column": "action.dexhand_position", |
| "start": 0, |
| "end": 6 |
| }, |
| "action.left_dexhand_position": { |
| "source_column": "action.left_dexhand_position", |
| "start": 0, |
| "end": 6 |
| }, |
| "action.right_beta": { |
| "source_column": "action.right_beta", |
| "start": 0, |
| "end": 10 |
| }, |
| "action.left_beta": { |
| "source_column": "action.left_beta", |
| "start": 0, |
| "end": 10 |
| }, |
| "action.right_theta": { |
| "source_column": "action.right_theta", |
| "start": 0, |
| "end": 45 |
| }, |
| "action.left_theta": { |
| "source_column": "action.left_theta", |
| "start": 0, |
| "end": 45 |
| } |
| }, |
| "coordinate_systems": { |
| "first_person_camera_opencv": { |
| "definition": "Current-frame egocentric camera coordinates following OpenCV convention.", |
| "axes": { |
| "x": "image_right", |
| "y": "image_down", |
| "z": "camera_forward" |
| } |
| }, |
| "world_scene": { |
| "definition": "Scene-board world frame anchored to the reference scene AprilTag.", |
| "axes": "Inherited from the reconstructed world transform chain." |
| } |
| }, |
| "fusion": { |
| "camera_serials": "all", |
| "fixed_world_camera_serials": "camera_1,camera_2", |
| "timeline_camera_serial": "camera_0", |
| "hand_pose_frame": "first_person_camera_opencv", |
| "first_person_camera_pose_frame": "world_scene" |
| } |
| } |
|
|
