# 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.