diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..7dedcd64e2c254770fdb37d5a9bbf02ea6250f9c --- /dev/null +++ b/README.md @@ -0,0 +1,144 @@ +--- +license: apache-2.0 +task_categories: + - robotics +tags: + - LeRobot + - robotics + - egocentric + - hand-tracking + - manus-gloves + - imitation-learning +--- + +# manus-egocentric-sample + +Egocentric video dataset with Manus glove hand tracking data, converted to LeRobot v3.0 format. + +## Dataset Description + +This dataset contains egocentric (first-person view) recordings of human hands performing various manipulation tasks, captured with: +- **Manus Metagloves**: High-precision finger tracking (~70Hz) +- **OAK-D Camera**: RGB video (1920x1080, 30fps) + Depth (640x400, 30fps) +- **IMU**: Accelerometer and gyroscope data + +### Dataset Statistics + +| Property | Value | +|----------|-------| +| Total Episodes | 20 | +| Total Frames | 96,544 | +| FPS | 30 | +| Robot Type | manus_gloves | +| LeRobot Version | v2.1 | +| Dataset Size | ~15.3 GB | + +### Tasks + +`Pick_and_pack_task`, `fold_laundry` + +### Features + +| Feature | Type | Shape | +|---------|------|-------| +| `episode_index` | int64 | [1] | +| `frame_index` | int64 | [1] | +| `timestamp` | float32 | [1] | +| `task_index` | int64 | [1] | +| `observation.images.egocentric` | video | [1080, 1920, 3] | +| `observation.state.hand_joints` | float32 | [150] | +| `observation.state.finger_angles` | float32 | [40] | +| `observation.state.gestures` | float32 | [26] | +| `observation.state.imu` | float32 | [6] | + + +### Depth Data + +This dataset includes raw depth data as a custom extension (LeRobot v3.0 doesn't officially support depth yet). + +| Property | Value | +|----------|-------| +| Format | Raw uint16 binary | +| Resolution | [400, 640] (H, W) | +| Unit | millimeters | +| Episodes with depth | 17 | +| Storage | Episode-based (`depth/episode_XXXXXX.bin`) | + +To load depth data: +```python +import numpy as np + +def load_depth(dataset_path, episode_index): + depth_path = dataset_path / f"depth/episode_{episode_index:06d}.bin" + if depth_path.exists(): + data = np.fromfile(depth_path, dtype=np.uint16) + # Reshape based on frame count (need timestamps) + return data + return None +``` + + +## Usage + +### Load with LeRobot + +```python +from lerobot.datasets.lerobot_dataset import LeRobotDataset + +dataset = LeRobotDataset("opengraph-labs/manus-egocentric-sample") + +# Access a sample +sample = dataset[0] +print(sample.keys()) +# dict_keys(['observation.images.egocentric', 'observation.state.hand_joints', ...]) + +# Get hand joint positions (25 joints x 3 coords x 2 hands = 150 dims) +hand_joints = sample["observation.state.hand_joints"] +print(hand_joints.shape) # torch.Size([150]) +``` + +### Data Structure + +``` +manus-egocentric-sample/ +├── meta/ +│ ├── info.json # Dataset schema and features +│ ├── stats.json # Feature statistics (mean/std/min/max) +│ ├── tasks.jsonl # Task definitions +│ ├── episodes.jsonl # Episode metadata +│ └── episodes/ # Episode info (parquet) +├── data/chunk-XXX/ # Time-series data (parquet) +├── videos/ # RGB video (mp4) +└── depth/ # Raw depth data (uint16 binary) +``` + +## Hand Skeleton Structure + +Each hand has 25 tracked joints: + +``` +Hand (Root) +├── Thumb: MCP → PIP → DIP → TIP (4 joints) +├── Index: MCP → IP → PIP → DIP → TIP (5 joints) +├── Middle: MCP → IP → PIP → DIP → TIP (5 joints) +├── Ring: MCP → IP → PIP → DIP → TIP (5 joints) +└── Pinky: MCP → IP → PIP → DIP → TIP (5 joints) +``` + +## Citation + +If you use this dataset, please cite: + +```bibtex +@dataset{manus_egocentric_2025, + title = {Manus Egocentric Hand Tracking Dataset}, + author = {OpenGraph Labs}, + year = {2025}, + publisher = {Hugging Face}, + url = {https://huggingface.co/datasets/opengraph-labs/manus-egocentric-sample} +} +``` + +## License + +This dataset is released under the Apache 2.0 License. diff --git a/conversion_report.json b/conversion_report.json new file mode 100644 index 0000000000000000000000000000000000000000..68c097fe229e2b75a392d5ac06674f40848550d7 --- /dev/null +++ b/conversion_report.json @@ -0,0 +1,51 @@ +{ + "config": { + "input_dir": "../../data/Manus_Recordings", + "output_dir": "../../data/lerobot_test", + "fps": 30, + "chunk_size": 1000, + "max_episodes": 20, + "tasks_filter": null, + "dry_run": false + }, + "collection": { + "total": 20, + "total_duration_seconds": 3318.437334060669, + "total_duration_formatted": "0h 55m 18s", + "with_depth": 17, + "rgb_only": 3, + "tasks": { + "Pick_and_pack_task": 1, + "fold_laundry": 19 + }, + "task_mapping": { + "Pick_and_pack_task": 0, + "fold_laundry": 1 + }, + "errors": 0 + }, + "video": { + "total_videos": 20, + "total_frames": 96549, + "total_duration_seconds": 3218.1336588541667, + "total_size_mb": 5183.153643608093 + }, + "depth": { + "total_episodes": 17, + "total_frames": 85460, + "total_raw_size_mb": 10432.12890625, + "total_video_size_mb": 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