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Datasets:
fohwqfw
/
lance_dataset

Tasks:
Robotics
Time Series Forecasting
Languages:
English
Tags:
lance
trajectory
mano
robotics
motion-capture
Libraries:
Lance
Dataset card Files
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index
dict
trajectory_metadata
dict
timestamp
list
hands
list
objects
list
video
list
video_depth
list
contact
null
atomic_actions
list
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End of preview.

lance_dataset

This repository stores Lance datasets.

The current dataset is organized as Dexcanvas.lance/. It contains Lance data fragments, version manifests, and transaction metadata.

Dataset Structure

Dexcanvas.lance represents a captured trajectory dataset. Each row corresponds to one complete captured trajectory. The field definitions are based on captured_data_schema.yaml.

Key conventions:

  • trajectory_metadata.total_frames defines the sequence length T
  • All sequence fields must have the same T dimension
  • All rotations are represented in axis-angle format
  • All positions are measured in meters

MANO Trajectory Fields

MANO-related data is split into metadata fields and time-series fields.

Metadata

The following fields in trajectory_metadata describe the hand layout:

  • hand_names: variable-length list of hand names
  • mano_hand_shapes: MANO shape parameters for each hand

Index mapping:

  • hand_names[i] corresponds to hands[i]
  • mano_hand_shapes[i] corresponds to hands[i]

Time-Series Data

hands[] is a variable-length array. Each element represents one hand over the full trajectory.

  • mano_global_pos (T, 3)
    Global hand position in meters.
  • mano_global_rot_aa (T, 3)
    Global hand rotation in axis-angle format.
  • mano_hand_pose (T, 48)
    MANO hand pose parameters.
    • 45 dimensions for 15 joint rotations
    • 3 dimensions for the wrist
  • mano_joint_pos (T, 21, 3)
    3D positions of 21 MANO hand joints.
  • urdf_dof (T, 26)
    URDF degree-of-freedom representation.
    • 20 finger DOFs
    • 6 wrist DOFs

In short:

  • mano_global_pos and mano_global_rot_aa describe the global hand pose
  • mano_hand_pose describes MANO finger and wrist pose parameters
  • mano_joint_pos provides the derived 3D hand joint positions
  • urdf_dof provides a robot/control-oriented representation

Object Fields

Object-related data is stored in trajectory_metadata.object_names and objects[].

Metadata

  • object_names: variable-length list of object names

Index mapping:

  • object_names[i] corresponds to objects[i]

Time-Series Data

objects[] is a variable-length array. Each element represents one object over the full trajectory.

  • rot_aa (T, 3)
    Object rotation in axis-angle format.
  • pos (T, 3)
    Object position in meters.

Therefore, objects[i] stores the full pose trajectory of the i-th object across all T frames.

Other Common Fields

  • index.uuid: unique trajectory identifier
  • index.seed_uuid: same as uuid for captured data; source trajectory ID for generated data
  • index.file_uuid: source session_data_files.file_uuid
  • index.capMachine: capture machine identifier
  • index.operator: operator who captured or generated the data
  • index.scene: scene identifier
  • index.is_generated: whether the row is generated data
  • timestamp: per-frame timestamps
  • atomic_actions: atomic action intervals, such as grasp or release

Directory Layout

  • Dexcanvas.lance/: Lance dataset root
  • Dexcanvas.lance/data/: physical Lance data fragments
  • Dexcanvas.lance/_versions/: dataset version manifests
  • Dexcanvas.lance/_transactions/: transaction records
  • Dexcanvas.lance/_latest.manifest: latest dataset manifest
  • captured_data_schema.yaml: YAML schema converted from the upstream JSONC schema

Notes

When adding new fields, keep them consistent with captured_data_schema.yaml, especially:

  • The shared T dimension for sequence fields
  • The index mapping between hands[] and trajectory_metadata.hand_names
  • The index mapping between objects[] and trajectory_metadata.object_names
  • Axis-angle rotation representation
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