frame int32 0 2.28k | timestamp_ms float32 0 38k | timestamp_s float32 0 38 | timestamp_ns int64 0 38B | handedness stringclasses 1
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End of preview. Expand in Data Studio
Manus MANO Poses
This dataset contains a right-hand Manus glove recording converted into the 21-landmark hand-pose convention used by the orca_teleop pipeline and its retargeters.
Contents
- Split:
train - Frames: 2278
- Duration: 37.95 s
- Sampling rate: 60.00 Hz
- Handedness:
right
Each row contains frame, elapsed timestamps, handedness, and keypoints, a (21, 3) float32 array of wrist-relative 3D landmarks in meters.
Landmark Order
The keypoints array follows the MediaPipe/MANO-style order expected by orca_teleop:
- wrist
- thumb_cmc
- thumb_mcp
- thumb_ip
- thumb_tip
- index_mcp
- index_pip
- index_dip
- index_tip
- middle_mcp
- middle_pip
- middle_dip
- middle_tip
- ring_mcp
- ring_pip
- ring_dip
- ring_tip
- pinky_mcp
- pinky_pip
- pinky_dip
- pinky_tip
The Manus export includes an additional *_CMC position for non-thumb fingers. Those joints are not part of the 21-point MANO/MediaPipe landmark interface and were dropped. Rotation, velocity, acceleration, pinch, flex/spread, angular velocity, and angular acceleration columns were also omitted.
Coordinate Conversion
The source CSV stores positions in Manus/Unity-style coordinates with centimeter-scale values. The published keypoints are wrist-relative meters using:
keypoints_m = [-X_cm, Z_cm, -Y_cm] / 100
after subtracting Hand_Position from every selected joint. The -Y_cm palm-normal sign is important for matching the adaptive analytical retargeter's target frame; the earlier +Y_cm convention made the landmarks look plausible but drove several Orca joints into hard limits.
For replay into the current gRPC ingress, flatten keypoints row-major and send it as HandFrame.keypoints with handedness="right".
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