| # Generated from cma2lance-129-123/lance_utils/schema/schemas/captured_data_schema.jsonc | |
| # Comments from the JSONC source are not preserved in this YAML conversion. | |
| version: "1.0" | |
| model: "TrajectorySchema" | |
| description: "Schema for captured trajectory data with camera image. NOTE: All rotation angles should be represented as axis-angle format" | |
| reserved_fields: | |
| - "index.uuid" | |
| - "index.seed_uuid" | |
| index_fields: | |
| - "index.uuid" | |
| - "index.seed_uuid" | |
| - "index.file_uuid" | |
| - "index.capMachine" | |
| - "index.operator" | |
| - "index.scene" | |
| - "index.is_generated" | |
| sequence_field: | |
| - "timestamp" | |
| - "hands.mano_global_pos" | |
| - "hands.mano_global_rot_aa" | |
| - "hands.mano_hand_pose" | |
| - "hands.mano_joint_pos" | |
| - "hands.urdf_dof" | |
| - "objects.rot_aa" | |
| - "objects.pos" | |
| t_dimension_field: "trajectory_metadata.total_frames" | |
| fields: | |
| index: | |
| uuid: "str" | |
| seed_uuid: "str" | |
| file_uuid: "str" | |
| capMachine: "str" | |
| operator: "str" | |
| scene: "str" | |
| is_generated: "bool" | |
| trajectory_metadata: | |
| data_fps: "int" | |
| total_frames: "int" | |
| hand_names: | |
| - "str" | |
| object_names: | |
| - "str" | |
| mano_hand_shapes: | |
| - "(10,)" | |
| raw_data_info: | |
| capMachine: "str" | |
| operator: "str" | |
| scene: "str" | |
| id: "int" | |
| trajectory_info: | |
| object_move: | |
| - | |
| object_name: "str" | |
| start_frame: "int" | |
| end_frame: "int" | |
| capture_info: | |
| capture_date: "str" | |
| capture_tag: "str" | |
| commit_hash: "str" | |
| alignment_rmse_mean: "float" | |
| camera1: "(6,)" | |
| camera2: "(6,)" | |
| video_fps: "int" | |
| train_info: "NULL" | |
| timestamp: "(T,)" | |
| hands: | |
| - | |
| mano_global_pos: "(T, 3)" | |
| mano_global_rot_aa: "(T, 3)" | |
| mano_hand_pose: "(T, 48)" | |
| mano_joint_pos: "(T, 21, 3)" | |
| urdf_dof: "(T, 26)" | |
| objects: | |
| - | |
| rot_aa: "(T, 3)" | |
| pos: "(T, 3)" | |
| video: | |
| - | |
| color: "(T,): blob_jpeg" | |
| video_depth: | |
| - | |
| depth: "(T,): blob_png" | |
| contact: "NULL" | |
| atomic_actions: | |
| - | |
| action: "str" | |
| start: "float" | |
| end: "float" | |