| { |
| "status": "User-confirmed source mappings with documented FTP-1 export conventions", |
| "instruction_source": "/Volumes/KINGSTON/2026_Tactile_data/extracted_images_trajectory/Task_Instruction.rtf", |
| "episodes": { |
| "boundary": "One original trial, from its beginning to its end", |
| "complete_trials": 110, |
| "recovered_partial_trial": "Retained separately; not counted as a complete episode", |
| "note": "Episode boundaries do not by themselves establish cross-topic synchronization" |
| }, |
| "instructions": [ |
| { |
| "directory": "task1", |
| "trials": "all_complete", |
| "text": "Pull the hard drive out of the server.", |
| "source_directory": "Datacenter" |
| }, |
| { |
| "directory": "task2", |
| "trial_numbers": [ |
| 1, |
| 2, |
| 3, |
| 4 |
| ], |
| "text": "Take the light bulb out of the tape roll and place it on the table.", |
| "source_directory": "Task2" |
| }, |
| { |
| "directory": "task2", |
| "trial_numbers": [ |
| 5, |
| 6, |
| 7, |
| 8 |
| ], |
| "text": "Take the light bulb out of the tape roll and place it into another tape roll.", |
| "source_directory": "Task2" |
| }, |
| { |
| "directory": "task3", |
| "trials": "all_complete", |
| "text": "Pick up one marker pen and place it in the clear plastic box.", |
| "source_directory": "Task3" |
| }, |
| { |
| "directory": "task4", |
| "trials": "all_complete", |
| "text": "Move the pipe clamp from the left table to the right table.", |
| "source_directory": "Task4" |
| } |
| ], |
| "robot_state": { |
| "source": "arm4_current_arm_joint_pose", |
| "unit": "rad", |
| "confirmed_channels_one_based": { |
| "data_1": "Arm base left/right rotation, rad; part of the seven arm joints", |
| "data_2_to_data_7": "Six arm joints ordered from base to wrist", |
| "data_8": "Gripper joint" |
| }, |
| "proposed_export_side": "right", |
| "proposed_mapping": { |
| "right_arm_joints": { |
| "source_channels_one_based": [ |
| 1, |
| 2, |
| 3, |
| 4, |
| 5, |
| 6, |
| 7 |
| ], |
| "shape": [ |
| "T", |
| 7 |
| ] |
| }, |
| "right_hand_joints": { |
| "source_channels_one_based": [ |
| 8 |
| ], |
| "shape": [ |
| "T", |
| 1 |
| ] |
| }, |
| "right_hand_joints_idx": { |
| "proposed_slot": 28, |
| "shape": [ |
| "T", |
| 1 |
| ], |
| "meaning": "Gripper" |
| } |
| }, |
| "representation": "joint state trajectories; no unverified Cartesian pose conversion", |
| "needs_confirmation": [], |
| "gripper_note": "Every trial starts with the gripper open. Keep original rad values; opening direction and zero reference are not export prerequisites." |
| }, |
| "cameras": { |
| "arm4_gripper_usb_camera_stream_compressed": { |
| "confirmed_location": "top/head camera", |
| "proposed_key": "camera_ego_rgb" |
| }, |
| "arm4_top_usb_camera_stream_compressed": { |
| "confirmed_location": "wrist camera", |
| "proposed_key": "right_wrist_camera_rgb" |
| } |
| }, |
| "tactile": { |
| "same_gripper": true, |
| "proposed_export_side": "right", |
| "proposed_channel_order": [ |
| { |
| "channel_zero_based": 0, |
| "serial": "OG000470", |
| "confirmed_location": "left gripper finger" |
| }, |
| { |
| "channel_zero_based": 1, |
| "serial": "OG000144", |
| "confirmed_location": "right gripper finger" |
| } |
| ], |
| "groups": [ |
| "rgb", |
| "depth", |
| "force_grid" |
| ], |
| "area_indices": [ |
| 0, |
| 1 |
| ], |
| "sensor_model": "Xense (sensor-name field; no exact product model asserted)", |
| "depth_metres_per_count": 1e-05, |
| "invalid_raw_value": -32768, |
| "force_grid": { |
| "channels": 3, |
| "physical_units": "Pending", |
| "component_order_and_frame": "Pending" |
| }, |
| "sdk_reference": { |
| "source_archive": "/Volumes/KINGSTON/2026_Tactile_data/xensesdk-main_code (2).zip", |
| "rgb": "Sensor.OutputType.Rectify; SDK README documents BGR", |
| "force_grid": "Sensor.OutputType.Force; three-dimensional force distribution, shape (35,20,3)", |
| "depth": "SDK README documents original Depth output in mm, typically shape (700,400)", |
| "resultant": "Example maps ForceResultant indices to force x,y,z and torque x,y,z; this does not itself establish grid component order or physical units", |
| "ros_timestamp": "Example uses ROS node clock immediately after SDK retrieval; not Sensor.OutputType.TimeStamp", |
| "version_difference": "Example publishes depth 32FC1, force grid 32FC3, WrenchStamped and force_grid_image topic. Actual MCAP has 16SC1/16SC3, numeric_metadata, and different topic names.", |
| "conversion_rule": "Use the actual MCAP numeric_metadata for int16 dequantization; do not apply the example float32/mm storage convention to current recorded counts." |
| }, |
| "area_reference": "FTP-1 parse_data_univtac.py: left pad/thumb=0, right pad/index=1" |
| }, |
| "timing": { |
| "log_time_ns": "Available for all streams", |
| "sensor_header_timestamps": "Available for Xense streams; ordinary-camera headers are zero in inspected sample", |
| "sample_observation": "Task2/trial_1: 658 depth records but 159 distinct OG000470 sensor timestamps", |
| "needs_confirmation": "Polling/caching and timestamp generation; repeated samples must not be treated as independent acquisitions", |
| "sdk_example_note": "The supplied example has a nominal 30 Hz ROS timer and reads two sensors sequentially. Its timestamp/version behavior must not be assumed identical to the recorder that produced this dataset.", |
| "conversion_policy": "Nearest MCAP log_time to each joint log_time, within each trial; preserve all joint timestamps and save matched source timestamps/offsets. No hardware capture synchronization claim." |
| }, |
| "export_options": { |
| "image_size": [ |
| 224, |
| 224 |
| ], |
| "image_resize": "OpenCV INTER_AREA direct resize", |
| "numeric_tactile": "int16 original counts, invalid pixels zero-filled with validity masks", |
| "wrist_pose": "not inferred", |
| "actions": "derived by loader from future state trajectories", |
| "gripper_angles": "original rad, no normalization or sign reversal" |
| }, |
| "task_name_aliases": { |
| "task1": "Datacenter", |
| "task2": "Task2", |
| "task3": "Task3", |
| "task4": "Task4" |
| } |
| } |
|
|
