Re-upload: FLU coordinates, headset (center-eye) pose and position, joint positions in FLU

README.md

@@ -1,145 +1,145 @@
----
-license: apache-2.0
-task_categories:
-- robotics
-tags:
-- lerobot
-- robotics
-- mixed-reality
-- bimanual
-- kitchen
-- manipulation
-- imitation-learning
-- demonstration
-configs:
-- config_name: default
-  data_files:
-  - split: train
-    path: data/chunk_*.parquet
-pretty_name: 'WILD-Mani: Kitchen Edition'
----
-
-# WILD-Mani: A Real-World Bimanual Manipulation Dataset – Kitchen Edition
-The first installment of the WILD-Mani series.
-* High-fidelity bimanual demonstrations collected in real-world kitchen environments using Mixed Reality (MR).
-* Designed to support Sim2Real transfer for bimanual manipulation tasks.
-* Current Domain: Kitchen
-
-## Dataset Description
-
-This dataset contains human demonstrations of kitchen manipulation tasks captured using a Mixed Reality headset in **real-world kitchen environments**. The data tracks both hands simultaneously with 6-DOF pose tracking, enabling bimanual robot imitation learning research.
-
-### Key Features
-
-- **Real-world environments**: Demonstrations captured in actual kitchens (not simulation)
-- **Mixed Reality capture**: High-fidelity hand tracking in physical spaces
-- **Bimanual manipulation**: Both hands tracked simultaneously
-- **Camera view**: Single camera (center eye) per demonstration
-- **Diverse tasks**: Multiple kitchen manipulation tasks with varying complexity
-
-## Dataset Statistics
-
-| Property | Value |
-|----------|-------|
-| **Episodes** | 102 |
-| **Total Frames** | 79,244 |
-| **FPS** | 30 |
-| **Cameras** | 1 |
-| **Environment** | Real kitchen with lighting variations |
-
-## Task Categories
-
-| Category | Task | Objects | Actions | Demos |
-|----------|------|---------|---------|-------|
-| Meal Prep | Get item from fridge | Bottle, container | Open, pick, close, place | 24 |
-| Dish Organizing | Place cups on shelf | Cups (2-3) | Pick, place | 21 |
-| Dish Organizing | Put utensils in drawer | Fork, spoon, knife | Pick, open, place, close | 20 |
-| Meal Prep | Set table (plate + utensil) | Plate, fork, knife | Pick, place | 21 |
-
-## Diversity Dimensions
-
-| Dimension | Coverage | Details |
-|-----------|----------|---------|
-| **Actions** | 4+ types | Pick, place, open, close |
-| **Objects** | 15+ objects | Kitchen items varying in size, shape, material |
-| **Environment** | 1 kitchen | Natural light, artificial light, dim lighting |
-| **Surfaces** | 3 surfaces | Counter, dining table, shelf |
-| **Task Complexity** | Single + Multi-step | Pick-place (single) → Fridge sequence (multi-step) |
-| **Clutter** | Natural | Objects on counter, objects in fridge |
-
-## Data Format
-
-This dataset follows the **LeRobot v3.0** format.
-
-### Action Space (14D)
-
-The action space represents delta poses for both hands:
-
-| Dimensions | Description |
-|------------|-------------|
-| 0-2 | Left hand position delta (x, y, z) |
-| 3-6 | Left hand rotation delta (quaternion x, y, z, w) |
-| 7-9 | Right hand position delta (x, y, z) |
-| 10-13 | Right hand rotation delta (quaternion x, y, z, w) |
-
-### Observation Space
-
-| Key | Shape | Description |
-|-----|-------|-------------|
-| `state` | (14,) | Combined left/right wrist poses |
-| `left_state` | (7,) | Left wrist pose (position + quaternion) |
-| `right_state` | (7,) | Right wrist pose (position + quaternion) |
-| `right_joint_poses` | (78,) | Right hand full skeleton (26 joints × 3D position) |
-| `left_joint_poses` | (78,) | Left hand full skeleton (26 joints × 3D position) |
-| `observation.images.center_eye` | (H, W, 3) | Center eye camera view |
-| `observation.action_label` | string | Per-frame action label (e.g. open, pick, place, close) |
-
-### Joint Order (26 joints per hand)
-
-palm, wrist, thumb_metacarpal, thumb_proximal, thumb_distal, thumb_tip, index_metacarpal, index_proximal, index_intermediate, index_distal, index_tip, middle_metacarpal, middle_proximal, middle_intermediate, middle_distal, middle_tip, ring_metacarpal, ring_proximal, ring_intermediate, ring_distal, ring_tip, little_metacarpal, little_proximal, little_intermediate, little_distal, little_tip
-
-## Recording Setup
-
-- **Headset**: Meta Quest 3 (Mixed Reality)
-- **Environment**: Real-world kitchen
-- **Tracking**: Full skeletal hand tracking (26 joints per hand) via Quest 3 hand tracking
-- **Cameras**: 1 camera (center eye view)
-- **Software**: Unity-based recording system
-
-## File Structure
-
-```
-.
-├── data/
-│   ├── chunk_0000.parquet
-│   └── chunk_0001.parquet
-├── meta/
-│   ├── info.json
-│   ├── stats.json
-│   └── episode_index.parquet
-├── videos/
-│   └── observation.images.center_eye/
-└── README.md
-```
-
-## License
-
-This dataset is released under the Apache 2.0 License.
-
-## Citation
-
-If you use this dataset in your research, please cite:
-
-```bibtex
-@misc{kitchen_mr_manipulation,
-  title={Kitchen Mixed Reality Manipulation Dataset},
-  author={OOJU},
-  year={2026},
-  publisher={Hugging Face},
-  howpublished={\url{https://huggingface.co/datasets/ooju/kitchen-vr-manipulation}}
-}
-```
-
-## Acknowledgments
-
-Dataset collected using Mixed Reality hand tracking in real-world kitchen environments. Recording system built with Unity and Meta Quest.
+---
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- lerobot
+- robotics
+- mixed-reality
+- bimanual
+- kitchen
+- manipulation
+- imitation-learning
+- demonstration
+configs:
+- config_name: default
+  data_files:
+  - split: train
+    path: data/chunk_*.parquet
+pretty_name: 'WILD-Mani: Kitchen Edition'
+---
+
+# WILD-Mani: A Real-World Bimanual Manipulation Dataset – Kitchen Edition
+The first installment of the WILD-Mani series.
+* High-fidelity bimanual demonstrations collected in real-world kitchen environments using Mixed Reality (MR).
+* Designed to support Sim2Real transfer for bimanual manipulation tasks.
+* Current Domain: Kitchen
+
+## Dataset Description
+
+This dataset contains human demonstrations of kitchen manipulation tasks captured using a Mixed Reality headset in **real-world kitchen environments**. The data tracks both hands simultaneously with 6-DOF pose tracking, enabling bimanual robot imitation learning research.
+
+### Key Features
+
+- **Real-world environments**: Demonstrations captured in actual kitchens (not simulation)
+- **Mixed Reality capture**: High-fidelity hand tracking in physical spaces
+- **Bimanual manipulation**: Both hands tracked simultaneously
+- **Camera view**: Single camera (center eye) per demonstration
+- **Diverse tasks**: Multiple kitchen manipulation tasks with varying complexity
+
+## Dataset Statistics
+
+| Property | Value |
+|----------|-------|
+| **Episodes** | 102 |
+| **Total Frames** | 79,244 |
+| **FPS** | 30 |
+| **Cameras** | 1 |
+| **Environment** | Real kitchen with lighting variations |
+
+## Task Categories
+
+| Category | Task | Objects | Actions | Demos |
+|----------|------|---------|---------|-------|
+| Meal Prep | Get item from fridge | Bottle, container | Open, pick, close, place | 24 |
+| Dish Organizing | Place cups on shelf | Cups (2-3) | Pick, place | 21 |
+| Dish Organizing | Put utensils in drawer | Fork, spoon, knife | Pick, open, place, close | 20 |
+| Meal Prep | Set table (plate + utensil) | Plate, fork, knife | Pick, place | 21 |
+
+## Diversity Dimensions
+
+| Dimension | Coverage | Details |
+|-----------|----------|---------|
+| **Actions** | 4+ types | Pick, place, open, close |
+| **Objects** | 15+ objects | Kitchen items varying in size, shape, material |
+| **Environment** | 1 kitchen | Natural light, artificial light, dim lighting |
+| **Surfaces** | 3 surfaces | Counter, dining table, shelf |
+| **Task Complexity** | Single + Multi-step | Pick-place (single) → Fridge sequence (multi-step) |
+| **Clutter** | Natural | Objects on counter, objects in fridge |
+
+## Data Format
+
+This dataset follows the **LeRobot v3.0** format.
+
+### Action Space (14D)
+
+The action space represents delta poses for both hands:
+
+| Dimensions | Description |
+|------------|-------------|
+| 0-2 | Left hand position delta (x, y, z) |
+| 3-6 | Left hand rotation delta (quaternion x, y, z, w) |
+| 7-9 | Right hand position delta (x, y, z) |
+| 10-13 | Right hand rotation delta (quaternion x, y, z, w) |
+
+### Observation Space
+
+| Key | Shape | Description |
+|-----|-------|-------------|
+| `state` | (14,) | Combined left/right wrist poses |
+| `left_state` | (7,) | Left wrist pose (position + quaternion) |
+| `right_state` | (7,) | Right wrist pose (position + quaternion) |
+| `right_joint_poses` | (78,) | Right hand full skeleton (26 joints × 3D position) |
+| `left_joint_poses` | (78,) | Left hand full skeleton (26 joints × 3D position) |
+| `observation.images.center_eye` | (H, W, 3) | Center eye camera view |
+| `observation.action_label` | string | Per-frame action label (e.g. open, pick, place, close) |
+
+### Joint Order (26 joints per hand)
+
+palm, wrist, thumb_metacarpal, thumb_proximal, thumb_distal, thumb_tip, index_metacarpal, index_proximal, index_intermediate, index_distal, index_tip, middle_metacarpal, middle_proximal, middle_intermediate, middle_distal, middle_tip, ring_metacarpal, ring_proximal, ring_intermediate, ring_distal, ring_tip, little_metacarpal, little_proximal, little_intermediate, little_distal, little_tip
+
+## Recording Setup
+
+- **Headset**: Meta Quest 3 (Mixed Reality)
+- **Environment**: Real-world kitchen
+- **Tracking**: Full skeletal hand tracking (26 joints per hand) via Quest 3 hand tracking
+- **Cameras**: 1 camera (center eye view)
+- **Software**: Unity-based recording system
+
+## File Structure
+
+```
+.
+├── data/
+│   ├── chunk_0000.parquet
+│   └── chunk_0001.parquet
+├── meta/
+│   ├── info.json
+│   ├── stats.json
+│   └── episode_index.parquet
+├── videos/
+│   └── observation.images.center_eye/
+└── README.md
+```
+
+## License
+
+This dataset is released under the Apache 2.0 License.
+
+## Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@misc{kitchen_mr_manipulation,
+  title={Kitchen Mixed Reality Manipulation Dataset},
+  author={OOJU},
+  year={2026},
+  publisher={Hugging Face},
+  howpublished={\url{https://huggingface.co/datasets/ooju/kitchen-vr-manipulation}}
+}
+```
+
+## Acknowledgments
+
+Dataset collected using Mixed Reality hand tracking in real-world kitchen environments. Recording system built with Unity and Meta Quest.

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       },
-      "observation.images.center_eye": {
-        "type": "Video",
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