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CITATION.md

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+# Citation
+
+If you use this sample package or the data it contains, please cite the TTP paper:
+
+Chi Zhang, Penglin Cai, Ziheng Xi, Haoqi Yuan, Hao Luo, Wanpeng Zhang, Sipeng Zheng, Chaoyi Xu, and Zongqing Lu. Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation. 2026.
+
+```bibtex
+@misc{zhang2026ttp,
+  title = {Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation},
+  author = {Zhang, Chi and Cai, Penglin and Xi, Ziheng and Yuan, Haoqi and Luo, Hao and Zhang, Wanpeng and Zheng, Sipeng and Xu, Chaoyi and Lu, Zongqing},
+  year = {2026},
+  url = {https://beingbeyond.github.io/TTP/}
+}
+```
+
+To cite this sample package directly:
+
+```bibtex
+@misc{htac2026release_sample_interndesk,
+  title = {H-Tac Release Sample InternDesk},
+  author = {{H-Tac Dataset Authors}},
+  year = {2026},
+  note = {Sample release package for Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulation}
+}
+```

DeskTaskTac/AprilTagPip/README.md

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+# AprilTagPip Sample
+
+This directory is a complete-episode sample of the DeskTaskTac AprilTag-assisted pipeline.
+
+AprilTag episodes use scene AprilTags and hand reference structures to recover bimanual poses, together with tactile and MoCap glove information. This subset uses the same per-frame schema as `../RawHandPip`; see `../README.md` for the DeskTaskTac field dictionary.
+
+## Summary
+
+| item | value |
+| --- | ---: |
+| episodes | 4 |
+| frames | 11,104 |
+| task entries | 3 |
+| top-view videos | 4 |
+
+Episode indices and video paths are local to this subset and align with the files under `data/` and `videos/video.top_view/`.
+
+## Layout
+
+- `data/episode_*.parquet`: frame-level episode data.
+- `videos/video.top_view/episode_*.mp4`: top-view MP4 videos.
+- `meta/features.json`: 38-field DeskTaskTac per-frame schema.
+- `meta/dataset_info.json`: dataset-level metadata, modality mapping, and coordinate systems.
+- `meta/episodes.parquet`: episode-level metadata for the AprilTag pipeline.
+- `meta/tasks.jsonl`: task id to task-name mapping.
+- `meta/episode_records/*.json`: per-episode metadata records.
+
+## Loading Notes
+
+- Resolve paths in `video.top_view` relative to this directory.
+- Treat `state.eef_*` and `state.left_eef_*` as right/left hand wrist or anchor poses in the first-person OpenCV camera frame.
+- `timestamp` is episode-relative seconds; `timestamp_ms` preserves the captured millisecond timeline.
+- `manus_frame_index` may contain source MoCap/Manus frame indices in this subset.

DeskTaskTac/AprilTagPip/data/episode_000000.parquet

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+size 9141827

DeskTaskTac/AprilTagPip/data/episode_000001.parquet

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+size 3743213

DeskTaskTac/AprilTagPip/data/episode_000002.parquet

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+oid sha256:5b8582ec4bb7c3744522b3a56f6ffc88c5f875d4457d90810291749f9a24d188
+size 932598

DeskTaskTac/AprilTagPip/data/episode_000003.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:53475d38dbf982b8ffb8c2e6a86176e87668ba83f60edf8aaac4ce374043ad05
+size 2569560

DeskTaskTac/AprilTagPip/meta/dataset_info.json

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+{
+  "dataset_name": "AprilTagPip",
+  "dataset_type": "lerobot_episode_dataset",
+  "codebase_version": "h_tac_desktask_tac_v1",
+  "fps": 30.0,
+  "total_episodes": 4,
+  "total_frames": 11104,
+  "total_tasks": 3,
+  "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"
+  }
+}

DeskTaskTac/AprilTagPip/meta/episode_records/episode_000000.json

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+{
+  "episode_index": 0,
+  "session_name": "episode_000000",
+  "session_dir": "sessions/episode_000000",
+  "length": 6085,
+  "task_index": 2,
+  "task": "play_tangram",
+  "fps": 30.0,
+  "camera_serials": "all",
+  "multiview_min_hand_tags": 1,
+  "rts_smooth_wrist_pose": true,
+  "first_person_camera_serial": "camera_0",
+  "video.top_view": "videos/video.top_view/episode_000000.mp4",
+  "parquet_path": "data/episode_000000.parquet",
+  "mano_device": "cpu",
+  "duration_seconds": 202.949,
+  "timeline_mode": "camera_serial",
+  "timeline_camera_serial": "camera_0",
+  "pad_frozen_data": false,
+  "manus_frozen_left": false,
+  "manus_frozen_right": false
+}

DeskTaskTac/AprilTagPip/meta/episode_records/episode_000001.json

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+{
+  "episode_index": 1,
+  "session_name": "episode_000001",
+  "session_dir": "sessions/episode_000001",
+  "length": 2648,
+  "task_index": 1,
+  "task": "operate_calculator",
+  "fps": 30.0,
+  "camera_serials": "all",
+  "multiview_min_hand_tags": 1,
+  "rts_smooth_wrist_pose": true,
+  "first_person_camera_serial": "camera_0",
+  "video.top_view": "videos/video.top_view/episode_000001.mp4",
+  "parquet_path": "data/episode_000001.parquet",
+  "mano_device": "cpu",
+  "duration_seconds": 88.298,
+  "timeline_mode": "camera_serial",
+  "timeline_camera_serial": "camera_0",
+  "pad_frozen_data": false,
+  "manus_frozen_left": false,
+  "manus_frozen_right": false
+}

DeskTaskTac/AprilTagPip/meta/episode_records/episode_000002.json

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+{
+  "episode_index": 2,
+  "session_name": "episode_000002",
+  "session_dir": "sessions/episode_000002",
+  "length": 639,
+  "task_index": 0,
+  "task": "work_with_cylinder",
+  "fps": 30.0,
+  "camera_serials": "all",
+  "multiview_min_hand_tags": 1,
+  "rts_smooth_wrist_pose": true,
+  "first_person_camera_serial": "camera_0",
+  "video.top_view": "videos/video.top_view/episode_000002.mp4",
+  "parquet_path": "data/episode_000002.parquet",
+  "mano_device": "cpu",
+  "duration_seconds": 21.283,
+  "timeline_mode": "camera_serial",
+  "timeline_camera_serial": "camera_0",
+  "pad_frozen_data": false,
+  "manus_frozen_left": false,
+  "manus_frozen_right": false
+}

DeskTaskTac/AprilTagPip/meta/episode_records/episode_000003.json

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+{
+  "episode_index": 3,
+  "session_name": "episode_000003",
+  "session_dir": "sessions/episode_000003",
+  "length": 1732,
+  "task_index": 0,
+  "task": "work_with_cylinder",
+  "fps": 30.0,
+  "camera_serials": "all",
+  "multiview_min_hand_tags": 1,
+  "rts_smooth_wrist_pose": true,
+  "first_person_camera_serial": "camera_0",
+  "video.top_view": "videos/video.top_view/episode_000003.mp4",
+  "parquet_path": "data/episode_000003.parquet",
+  "mano_device": "cpu",
+  "duration_seconds": 57.775,
+  "timeline_mode": "camera_serial",
+  "timeline_camera_serial": "camera_0",
+  "pad_frozen_data": false,
+  "manus_frozen_left": false,
+  "manus_frozen_right": false
+}

DeskTaskTac/AprilTagPip/meta/episodes.parquet

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+size 6254

DeskTaskTac/AprilTagPip/meta/features.json

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+{
+  "episode_index": {
+    "dtype": "int64",
+    "shape": []
+  },
+  "frame_index": {
+    "dtype": "int64",
+    "shape": []
+  },
+  "timestamp": {
+    "dtype": "float32",
+    "shape": []
+  },
+  "timestamp_ms": {
+    "dtype": "float64",
+    "shape": []
+  },
+  "task_index": {
+    "dtype": "int64",
+    "shape": []
+  },
+  "task": {
+    "dtype": "string",
+    "shape": []
+  },
+  "session_name": {
+    "dtype": "string",
+    "shape": []
+  },
+  "session_dir": {
+    "dtype": "string",
+    "shape": []
+  },
+  "manus_frame_index": {
+    "dtype": "int64",
+    "shape": []
+  },
+  "episode_done": {
+    "dtype": "bool",
+    "shape": []
+  },
+  "state.eef_position": {
+    "dtype": "float32",
+    "shape": [
+      3
+    ],
+    "coordinate_frame": "first_person_camera_opencv"
+  },
+  "state.eef_rotation": {
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+    "shape": [
+      3
+    ],
+    "coordinate_frame": "first_person_camera_opencv",
+    "rotation_type": "axis_angle"
+  },
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+    "dtype": "float32",
+    "shape": [
+      3
+    ],
+    "coordinate_frame": "first_person_camera_opencv"
+  },
+  "state.left_eef_rotation": {
+    "dtype": "float32",
+    "shape": [
+      3
+    ],
+    "coordinate_frame": "first_person_camera_opencv",
+    "rotation_type": "axis_angle"
+  },
+  "state.dexhand_position": {
+    "dtype": "float32",
+    "shape": [
+      6
+    ]
+  },
+  "state.left_dexhand_position": {
+    "dtype": "float32",
+    "shape": [
+      6
+    ]
+  },
+  "state.right_beta": {
+    "dtype": "float32",
+    "shape": [
+      10
+    ]
+  },
+  "state.left_beta": {
+    "dtype": "float32",
+    "shape": [
+      10
+    ]
+  },
+  "state.right_theta": {
+    "dtype": "float32",
+    "shape": [
+      45
+    ]
+  },
+  "state.left_theta": {
+    "dtype": "float32",
+    "shape": [
+      45
+    ]
+  },
+  "state.first_person_camera_position_world": {
+    "dtype": "float32",
+    "shape": [
+      3
+    ],
+    "coordinate_frame": "world_scene"
+  },
+  "state.first_person_camera_rotation_world": {
+    "dtype": "float32",
+    "shape": [
+      3
+    ],
+    "coordinate_frame": "world_scene",
+    "rotation_type": "axis_angle"
+  },
+  "tactile.right_tacglove": {
+    "dtype": "float32",
+    "shape": [
+      137
+    ]
+  },
+  "tactile.left_tacglove": {
+    "dtype": "float32",
+    "shape": [
+      137
+    ]
+  },
+  "tactile_pred.right_tacglove": {
+    "dtype": "float32",
+    "shape": [
+      137
+    ]
+  },
+  "tactile_pred.left_tacglove": {
+    "dtype": "float32",
+    "shape": [
+      137
+    ]
+  },
+  "video.top_view": {
+    "dtype": "video",
+    "shape": []
+  },
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+    "dtype": "int64",
+    "shape": []
+  },
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+    "shape": [
+      3
+    ],
+    "coordinate_frame": "first_person_camera_opencv",
+    "absolute": false
+  },
+  "action.eef_rotation": {
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+    "shape": [
+      3
+    ],
+    "coordinate_frame": "first_person_camera_opencv",
+    "absolute": false,
+    "rotation_type": "axis_angle"
+  },
+  "action.left_eef_position": {
+    "dtype": "float32",
+    "shape": [
+      3
+    ],
+    "coordinate_frame": "first_person_camera_opencv",
+    "absolute": false
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+  "action.left_eef_rotation": {
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+    "shape": [
+      3
+    ],
+    "coordinate_frame": "first_person_camera_opencv",
+    "absolute": false,
+    "rotation_type": "axis_angle"
+  },
+  "action.dexhand_position": {
+    "dtype": "float32",
+    "shape": [
+      6
+    ]
+  },
+  "action.left_dexhand_position": {
+    "dtype": "float32",
+    "shape": [
+      6
+    ]
+  },
+  "action.right_beta": {
+    "dtype": "float32",
+    "shape": [
+      10
+    ]
+  },
+  "action.left_beta": {
+    "dtype": "float32",
+    "shape": [
+      10
+    ]
+  },
+  "action.right_theta": {
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+    "shape": [
+      45
+    ]
+  },
+  "action.left_theta": {
+    "dtype": "float32",
+    "shape": [
+      45
+    ]
+  }
+}

DeskTaskTac/AprilTagPip/meta/tasks.jsonl

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+{"task_index": 0, "task": "work_with_cylinder"}
+{"task_index": 1, "task": "operate_calculator"}
+{"task_index": 2, "task": "play_tangram"}

DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000000.mp4

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+size 263692336

DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000001.mp4

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+size 89223385

DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000002.mp4

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DeskTaskTac/AprilTagPip/videos/video.top_view/episode_000003.mp4

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+size 57120549

DeskTaskTac/README.md

@@ -0,0 +1,95 @@
+# 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`.

DeskTaskTac/RawHandPip/README.md

@@ -0,0 +1,33 @@
+# RawHandPip Sample
+
+This directory is a complete-episode sample of the DeskTaskTac RawHand pipeline.
+
+RawHand episodes use image-based hand keypoint detection and multi-view triangulation to recover hand state, together with tactile glove readings. This subset uses the same per-frame schema as `../AprilTagPip`; see `../README.md` for the DeskTaskTac field dictionary.
+
+## Summary
+
+| item | value |
+| --- | ---: |
+| episodes | 10 |
+| frames | 10,974 |
+| task entries | 10 |
+| top-view videos | 10 |
+
+Episode indices and video paths are local to this subset and align with the files under `data/` and `videos/video.top_view/`.
+
+## Layout
+
+- `data/episode_*.parquet`: frame-level episode data.
+- `videos/video.top_view/episode_*.mp4`: top-view MP4 videos.
+- `meta/features.json`: 38-field DeskTaskTac per-frame schema.
+- `meta/dataset_info.json`: dataset-level metadata, modality mapping, and coordinate systems.
+- `meta/episodes.parquet`: episode-level metadata. RawHand includes additional raw-hand processing fields.
+- `meta/tasks.jsonl`: task id to task-name mapping.
+- `meta/episode_records/*.json`: per-episode metadata records.
+
+## Loading Notes
+
+- Resolve paths in `video.top_view` relative to this directory.
+- Treat `state.eef_*` and `state.left_eef_*` as right/left hand wrist or anchor poses in the first-person OpenCV camera frame.
+- `timestamp` is episode-relative seconds; `timestamp_ms` preserves the captured millisecond timeline.
+- `manus_frame_index` is commonly `-1` in RawHand episodes because this pipeline does not rely on a Manus/MoCap source in the same way as AprilTag episodes.

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DeskTaskTac/RawHandPip/meta/dataset_info.json

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+{
+  "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"
+  }
+}

DeskTaskTac/RawHandPip/meta/episode_records/episode_000000.json

@@ -0,0 +1,29 @@
+{
+  "episode_index": 0,
+  "session_name": "episode_000000",
+  "session_dir": "sessions/episode_000000",
+  "length": 1906,
+  "task_index": 5,
+  "task": "play_tangram",
+  "fps": 30.0,
+  "camera_serials": "all",
+  "multiview_min_hand_tags": 0,
+  "rts_smooth_wrist_pose": false,
+  "first_person_camera_serial": "camera_0",
+  "video.top_view": "videos/video.top_view/episode_000000.mp4",
+  "parquet_path": "data/episode_000000.parquet",
+  "mano_device": "cpu",
+  "duration_seconds": 63.547,
+  "timeline_mode": "camera_serial",
+  "timeline_camera_serial": "camera_0",
+  "pipeline_mode": "rawhand",
+  "hand_2d_backend": "mixed",
+  "interpolation_space": "2d",
+  "trusted_3d_mse_threshold_px2": 150.0,
+  "lose_track_time_s": 1.0,
+  "trusted_3d_smoothing_kernel": "0.25,0.5,0.25",
+  "trusted_3d_smoothing_min_segment_frames": 3,
+  "pad_frozen_data": false,
+  "manus_frozen_left": false,
+  "manus_frozen_right": false
+}

DeskTaskTac/RawHandPip/meta/episode_records/episode_000001.json

@@ -0,0 +1,29 @@
+{
+  "episode_index": 1,
+  "session_name": "episode_000001",
+  "session_dir": "sessions/episode_000001",
+  "length": 1259,
+  "task_index": 4,
+  "task": "stack_cups",
+  "fps": 30.0,
+  "camera_serials": "all",
+  "multiview_min_hand_tags": 0,
+  "rts_smooth_wrist_pose": false,
+  "first_person_camera_serial": "camera_0",
+  "video.top_view": "videos/video.top_view/episode_000001.mp4",
+  "parquet_path": "data/episode_000001.parquet",
+  "mano_device": "cpu",
+  "duration_seconds": 41.964,
+  "timeline_mode": "camera_serial",
+  "timeline_camera_serial": "camera_0",
+  "pad_frozen_data": false,
+  "manus_frozen_left": false,
+  "manus_frozen_right": false,
+  "pipeline_mode": "rawhand",
+  "hand_2d_backend": "mixed",
+  "interpolation_space": "2d",
+  "trusted_3d_mse_threshold_px2": 150.0,
+  "lose_track_time_s": 1.0,
+  "trusted_3d_smoothing_kernel": "0.25,0.5,0.25",
+  "trusted_3d_smoothing_min_segment_frames": 3
+}

DeskTaskTac/RawHandPip/meta/episode_records/episode_000002.json

@@ -0,0 +1,29 @@
+{
+  "episode_index": 2,
+  "session_name": "episode_000002",
+  "session_dir": "sessions/episode_000002",
+  "length": 792,
+  "task_index": 6,
+  "task": "play_doll",
+  "fps": 30.0,
+  "camera_serials": "all",
+  "multiview_min_hand_tags": 0,
+  "rts_smooth_wrist_pose": false,
+  "first_person_camera_serial": "camera_0",
+  "video.top_view": "videos/video.top_view/episode_000002.mp4",
+  "parquet_path": "data/episode_000002.parquet",
+  "mano_device": "cpu",
+  "duration_seconds": 26.385,
+  "timeline_mode": "camera_serial",
+  "timeline_camera_serial": "camera_0",
+  "pipeline_mode": "rawhand",
+  "hand_2d_backend": "mixed",
+  "interpolation_space": "2d",
+  "trusted_3d_mse_threshold_px2": 150.0,
+  "lose_track_time_s": 1.0,
+  "trusted_3d_smoothing_kernel": "0.25,0.5,0.25",
+  "trusted_3d_smoothing_min_segment_frames": 3,
+  "pad_frozen_data": false,
+  "manus_frozen_left": false,
+  "manus_frozen_right": false
+}

DeskTaskTac/RawHandPip/meta/episode_records/episode_000003.json

@@ -0,0 +1,29 @@
+{
+  "episode_index": 3,
+  "session_name": "episode_000003",
+  "session_dir": "sessions/episode_000003",
+  "length": 717,
+  "task_index": 2,
+  "task": "fold_paper",
+  "fps": 30.0,
+  "camera_serials": "all",
+  "multiview_min_hand_tags": 0,
+  "rts_smooth_wrist_pose": false,
+  "first_person_camera_serial": "camera_0",
+  "video.top_view": "videos/video.top_view/episode_000003.mp4",
+  "parquet_path": "data/episode_000003.parquet",
+  "mano_device": "cpu",
+  "duration_seconds": 23.918,
+  "timeline_mode": "camera_serial",
+  "timeline_camera_serial": "camera_0",
+  "pipeline_mode": "rawhand",
+  "hand_2d_backend": "mixed",
+  "interpolation_space": "2d",
+  "trusted_3d_mse_threshold_px2": 150.0,
+  "lose_track_time_s": 1.0,
+  "trusted_3d_smoothing_kernel": "0.25,0.5,0.25",
+  "trusted_3d_smoothing_min_segment_frames": 3,
+  "pad_frozen_data": false,
+  "manus_frozen_left": false,
+  "manus_frozen_right": false
+}

DeskTaskTac/RawHandPip/meta/episode_records/episode_000004.json

@@ -0,0 +1,29 @@
+{
+  "episode_index": 4,
+  "session_name": "episode_000004",
+  "session_dir": "sessions/episode_000004",
+  "length": 769,
+  "task_index": 3,
+  "task": "make_fruit_basket",
+  "fps": 30.0,
+  "camera_serials": "all",
+  "multiview_min_hand_tags": 0,
+  "rts_smooth_wrist_pose": false,
+  "first_person_camera_serial": "camera_0",
+  "video.top_view": "videos/video.top_view/episode_000004.mp4",
+  "parquet_path": "data/episode_000004.parquet",
+  "mano_device": "cpu",
+  "duration_seconds": 25.619,
+  "timeline_mode": "camera_serial",
+  "timeline_camera_serial": "camera_0",
+  "pipeline_mode": "rawhand",
+  "hand_2d_backend": "mixed",
+  "interpolation_space": "2d",
+  "trusted_3d_mse_threshold_px2": 150.0,
+  "lose_track_time_s": 1.0,
+  "trusted_3d_smoothing_kernel": "0.25,0.5,0.25",
+  "trusted_3d_smoothing_min_segment_frames": 3,
+  "pad_frozen_data": false,
+  "manus_frozen_left": false,
+  "manus_frozen_right": false
+}

DeskTaskTac/RawHandPip/meta/episode_records/episode_000005.json

@@ -0,0 +1,29 @@
+{
+  "episode_index": 5,
+  "session_name": "episode_000005",
+  "session_dir": "sessions/episode_000005",
+  "length": 1025,
+  "task_index": 8,
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