SCHEMA.md

# Schema Reference

This document summarizes the schema of `H-Tac_Release_Sample_InternDesk`. The authoritative machine-readable schemas are the per-subset `meta/features.json` and `meta/dataset_info.json` files.

## Compatibility

| scope | per-frame schema |
| --- | --- |
| `InternDataTac/curated__genie1_mano_tactile` | 40 columns |
| `InternDataTac/curated__lift2_mano_tactile` | same 40 columns |
| `DeskTaskTac/RawHandPip` | 38 columns |
| `DeskTaskTac/AprilTagPip` | same 38 columns |
| InternDataTac vs DeskTaskTac | 30 shared columns plus family-specific fields |

InternDataTac subsets share one per-frame schema. DeskTaskTac subsets share one per-frame schema. Tactile and hand-control fields differ by family.

## Common Frame Columns

These columns appear in every `data/episode_*.parquet` file.

| field | dtype / shape | meaning |
| --- | --- | --- |
| `episode_index` | `int64` scalar | Episode id within the release subset. |
| `frame_index` | `int64` scalar | Frame id inside the episode, starting at `0`. |
| `timestamp` | `float32` scalar | Episode-relative timestamp in seconds. |
| `timestamp_ms` | `float64` scalar | Millisecond timestamp. InternDataTac uses episode-relative milliseconds; DeskTaskTac preserves captured timeline milliseconds. |
| `task_index` | `int64` scalar | Task id resolved through `meta/tasks.jsonl`. |
| `task` | `string` scalar | Task instruction or task name. |
| `session_name` | `string` scalar | Release-local episode/session id. |
| `session_dir` | `string` scalar | Release-local session path or id. |
| `manus_frame_index` | `int64` scalar | Source Manus/MoCap frame index when available; `-1` means unavailable. |
| `episode_done` | `bool` scalar | End-of-episode marker; only the last frame is true. |
| `state.eef_position` | `float32[3]` | Right-side EEF or wrist position in `first_person_camera_opencv`. |
| `state.eef_rotation` | `float32[3]` | Right-side EEF or wrist axis-angle rotation in `first_person_camera_opencv`. |
| `state.left_eef_position` | `float32[3]` | Left-side EEF or wrist position in `first_person_camera_opencv`. |
| `state.left_eef_rotation` | `float32[3]` | Left-side EEF or wrist axis-angle rotation in `first_person_camera_opencv`. |
| `state.right_beta` | `float32[10]` | Right MANO shape parameter. |
| `state.left_beta` | `float32[10]` | Left MANO shape parameter. |
| `state.right_theta` | `float32[45]` | Right MANO pose parameter. |
| `state.left_theta` | `float32[45]` | Left MANO pose parameter. |
| `state.first_person_camera_position_world` | `float32[3]` | First-person camera position in `world_scene`. |
| `state.first_person_camera_rotation_world` | `float32[3]` | First-person camera axis-angle rotation in `world_scene`. |
| `video.top_view` | stored as string path | Relative path to the top-view video for this episode when present. |
| `video.top_view_frame_index` | `int64` scalar | Top-view video frame index. In this sample it matches `frame_index`. |
| `action.eef_position` | `float32[3]` | Right-side action target or delta in `first_person_camera_opencv`; declared `absolute=false`. |
| `action.eef_rotation` | `float32[3]` | Right-side action axis-angle rotation; declared `absolute=false`. |
| `action.left_eef_position` | `float32[3]` | Left-side action target or delta in `first_person_camera_opencv`; declared `absolute=false`. |
| `action.left_eef_rotation` | `float32[3]` | Left-side action axis-angle rotation; declared `absolute=false`. |
| `action.right_beta` | `float32[10]` | Right MANO action shape parameter. |
| `action.left_beta` | `float32[10]` | Left MANO action shape parameter. |
| `action.right_theta` | `float32[45]` | Right MANO action pose parameter. |
| `action.left_theta` | `float32[45]` | Left MANO action pose parameter. |

## InternDataTac-Specific Frame Columns

| field | dtype / shape | meaning |
| --- | --- | --- |
| `state.right_gripper` | `float32[1]` | Right gripper openness/state in `[0, 1]`; `-1` means inactive/masked. |
| `state.left_gripper` | `float32[1]` | Left gripper openness/state in `[0, 1]`; `-1` means inactive/masked. |
| `action.right_gripper` | `float32[1]` | Right gripper action target. |
| `action.left_gripper` | `float32[1]` | Left gripper action target. |
| `mask.right_arm` | `bool` scalar | Right side inactive/masked flag. |
| `mask.left_arm` | `bool` scalar | Left side inactive/masked flag. |
| `tactile.right_mano_tactile` | `float32[351]` | Right MANO compact tactile pressure vector. |
| `tactile.left_mano_tactile` | `float32[351]` | Left MANO compact tactile pressure vector. |
| `tactile_pred.right_mano_tactile` | `float32[351]` | Right predicted or processed MANO tactile vector. |
| `tactile_pred.left_mano_tactile` | `float32[351]` | Left predicted or processed MANO tactile vector. |

InternDataTac tactile values are normalized by a subset-specific `dataset_robot_max` scale recorded in `meta/dataset_info.json`. Nonnegative values are divided by that scale; masked inactive-arm values remain `-1`.

## DeskTaskTac-Specific Frame Columns

| 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 TacGlove tactile vector. |
| `tactile.left_tacglove` | `float32[137]` | Left TacGlove tactile vector. |
| `tactile_pred.right_tacglove` | `float32[137]` | Right predicted or processed TacGlove tactile vector. |
| `tactile_pred.left_tacglove` | `float32[137]` | Left predicted or processed TacGlove tactile vector. |

For DeskTaskTac, `state.eef_*` and `state.left_eef_*` are hand wrist or anchor poses in the first-person OpenCV camera frame, not robot EEF poses.

## Coordinate Systems

`first_person_camera_opencv`:

- `x`: image right
- `y`: image down
- `z`: camera forward

`world_scene`:

- InternDataTac: scene world frame used by SimBox camera-to-environment poses.
- DeskTaskTac: scene-board world frame anchored to the reference scene AprilTag.

Rotations are stored as axis-angle vectors where declared by `meta/features.json`.

## Metadata Files

| path | purpose |
| --- | --- |
| `meta/features.json` | Authoritative frame-level feature schema. |
| `meta/dataset_info.json` | Dataset-level counts, modalities, coordinate systems, and tactile notes. |
| `meta/tasks.jsonl` | Task id to task text mapping. |
| `meta/episodes.parquet` | Episode-level index with lengths, task ids, relative parquet paths, and video paths. |
| `meta/episode_records/*.json` | Detailed per-episode metadata records. |

`meta/episodes.parquet` has family-specific auxiliary columns. InternDataTac includes `robot_type`, `right_arm_mask`, and `left_arm_mask`. DeskTaskTac includes camera, timeline, processing, and pipeline metadata.

## Missing And Masked Values

- InternDataTac inactive sides use masks and commonly fill tactile, gripper, pose, or MANO fields with `-1`.
- Treat `-1` on masked InternDataTac sides as missing data, not physical zero contact.
- `manus_frame_index = -1` means no source Manus/MoCap frame was available for that frame.
- Resolve `video.top_view` path strings relative to the subset root.