{
  "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"
  }
}