# Datasets_CreateDataset `POST /v1/accounts/{account}/datasets` Creates a mixture. Its sources are added with Mixtures.BatchCreateSources (several at once, resolved together) or Mixtures.CreateSource; a mixture with no sources reads nothing. - Base URL: `https://junction-api.qualiastudios.dev` - Authentication: an API key in the `X-API-Key` header ## Parameters - `account` (path, string, required): The account id. - `requestId` (query, string): Idempotency key (AIP-155): a retry with the same id within 24 hours returns the first call's result instead of creating a second one. ## Request body Required: `application/json` `qualia.v1.Dataset` ## Responses - `200` OK: `application/json` `qualia.v1.Dataset` - `default` Default error response: `application/json` `google.rpc.Status` ## Schemas ```yaml qualia.v1.Dataset: required: - displayName - kind type: object properties: name: type: string description: accounts/{account}/datasets/{dataset} displayName: type: string description: Human name shown in the dashboard. description: type: string description: Free text about the dataset. kind: enum: - KIND_UNSPECIFIED - UPLOAD - MIXTURE - MERGED type: string description: |- Upload, mixture or merged. Only MIXTURE can be created through CreateDataset; uploads arrive through the upload path and MERGED is made by MergeDatasets. format: enum state: readOnly: true enum: - STATE_UNSPECIFIED - UPLOADING - UPLOADED - UPDATED - REVIEWING - READY type: string description: Where the dataset stands (the UI calls it status). format: enum stateProgress: readOnly: true type: number description: |- How far along the current status is, 0 to 1 (share of the upload landed while UPLOADING, share of episodes no longer waiting while REVIEWING). format: double labels: allOf: - $ref: "#/components/schemas/qualia.v1.Dataset_Labels" description: |- Session labels. Editable on an upload and on a merged dataset, derived (the commonest value over what it reads, a merged dataset's own for the uploads it holds) on a mixture. A merged dataset's are its own: chosen when the merge makes it (an answer, else its uploads' commonest), its collection tags seeded from its initial uploads and preserved on append. Every collection edit, including a compatibility method/axis edit, stays on the owner. Recording annotations on the uploads' takes stay separate. sourceRobot: type: string description: |- accounts/{account}/robots/{robot}: the fleet robot the episodes were recorded on. Empty for handheld data or when unmapped. A robot, not a gripper design (a Robot of kind GRIPPER); it is not looked up when set. A merged dataset's uploads share one, chosen at the merge; changing it changes it on every upload it holds. targetRobot: type: string description: |- accounts/{account}/robots/{robot}: the robot the episodes are played on. Set by default only on handheld uploads (method "handheld"), to the account's oldest robot (never a gripper design); empty otherwise until set. Changing it asks for no reach check; it closes the dataset's open out_of_reach issues, which were about the previous robot. Name a robot, not a gripper design (a Robot of kind GRIPPER): it is not looked up when set. Changing a merged dataset's changes it on every upload it holds; an upload merged away cannot be changed on its own. counts: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.Dataset_Counts" description: Episode, time and standing counts. channels: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.Dataset_Channels" description: What stable and head resolve to. drift: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.Dataset_Drift" description: Head against the newest tag. robotInterface: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.Dataset_InterfaceSummary" description: Robot interface and cameras. sourceDatasets: readOnly: true type: array items: type: string description: |- Lineage. Mixture: the uploads it reads at head, once each, an upload a merge took named by its merged dataset (once for all it holds). Merged: the uploads it holds, in the order they were merged. Upload: empty. readers: readOnly: true type: array items: type: string description: |- The mixtures that read this dataset directly: by name, or (for an upload or a merged dataset) through a label source it matches. A Task source is listed by the dataset's own Task; one that reads only takes linked to it here is found by ListDatasets' `reads` filter. posterUri: readOnly: true type: string description: |- A signed midpoint poster from the first episode with one, in source and member order, searching the first 128 members per visible source. Empty when no poster can be delivered within that search. repository: readOnly: true type: string description: "Upload only: the repository it was published into (the git-native view)." sourceFormat: readOnly: true enum: - SOURCE_FORMAT_UNSPECIFIED - LEROBOT_V2_1 - LEROBOT_V3 - MCAP_ROS2 type: string description: "Upload only: persisted ingest format." format: enum verdict: readOnly: true enum: - VERDICT_UNSPECIFIED - PUBLISHED - DEGRADED - UNDERIVABLE type: string description: "Upload only: how the ingest ended." format: enum verdictReason: readOnly: true type: string description: 'Upload only: ": " when the verdict is not PUBLISHED.' creator: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.Actor" description: Who created it (the uploader, or the person who made the mixture). createTime: readOnly: true type: string description: When the dataset was first published or created. format: date-time updateTime: readOnly: true type: string description: When anything about it last changed (a ruling, an issue, a source, a tag). format: date-time etag: type: string description: |- Sent back on UpdateDataset and DeleteDataset to guard against lost updates; a stale etag fails with ABORTED. slug: readOnly: true type: string description: |- The name a training run cites (Version.reference = ":"), fixed when the dataset is created and never changed by a rename (a rename changes display_name only). Made from display_name: lowercased, runs of anything but [a-z0-9] turned into "-", leading and trailing "-" trimmed, the first 8 characters of the dataset id when nothing is left. Unique per account: a collision at creation takes the next free "-2", "-3" suffix. posesAt: readOnly: true enum: - POSES_AT_UNSPECIFIED - ROOT - TCP type: string description: |- Upload only, and only a handheld (UMI) upload whose state ingest placed in the pair frame: where its poses are. ROOT or TCP; unspecified for any other dataset. Read from the published repository (meta/ingest.toml and calibration.json), so it is filled by GetDataset alone: unset on ListDatasets, CreateDataset and UpdateDataset. format: enum posesCalibration: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.TcpCalibration" description: |- Upload only: the calibration the TCP poses were resolved with, as it was when they were. Set when poses_at is TCP, and then only by GetDataset. Compare it with a rig's calibration to tell whether that rig's calibration has been replaced since. posesRig: readOnly: true type: string description: |- Upload only, with poses_at: the key of the rig ingest recognised the upload as recorded on ("umi-handheld"), which is the rig whose calibration a ResolvePoses takes. Ingest decides it from the recorder's robot_type, from the upload's meta/ingest.toml `[rig]`, or from the state channel names, so it can name a rig when Episode.rig (for a LeRobot upload only meta/info.json's robot_type) is empty or something else. Filled by GetDataset alone, like poses_at. posesUnavailable: readOnly: true type: boolean description: |- Upload only: true when GetDataset could not read the upload's repository for poses_at, poses_calibration and poses_rig, so they are unknown here and unspecified does not mean there are none. The rest of the dataset is answered as usual; read it again for the poses. mergedDataset: readOnly: true type: string description: |- Upload only: the merged dataset that holds it, once it was merged into one (MergeDatasets). Empty otherwise, including after member removal. While held, it leaves the unfiltered ListDatasets; its reads keep answering, by name and by `slug` (its versions, which keep resolving as `:`, its takes, issues, ingest report and re-ingests), and every write that names it, or an episode, issue or version under it, is FAILED_PRECONDITION naming the merged dataset, through which it is written. curatedFrom: type: string description: |- Mixture only: the upload version it curates from, as accounts/{account}/datasets/{dataset}/versions/{tag}; set on create (CreateDataset) and never changed. Such a branch reads that upload as the version froze it, through one source pinned there: the upload's rulings and blocking issues since reach neither it nor what reads it, its episodes read at the revisions the version pinned, its own keeps and rejects curate it, and edits are made in the upload. Empty for any other dataset. reachSettings: allOf: - $ref: "#/components/schemas/qualia.v1.ReachSettings" description: |- How the dataset's reach check is walked, as the dataset stores it: what is unset follows the target robot's model (see Checks.GetReachStatus for what a RunCheck would use now). Saving it starts nothing. linkedTask: type: string description: |- accounts/{account}/tasks/{task}: the Task an upload is recorded against, or empty when unlinked. A link, not a label: labels.task stays the text. Set on an upload (a task of its account, NOT_FOUND otherwise), or on a merged dataset, whose own it is (chosen when the merge makes it: an answer, else its uploads' commonest; its uploads keep theirs); a mixture shows the commonest link of the uploads it reads (a merged dataset's own for the uploads it holds). Linking by label (LinkTaskLabels, and publishing a task) links an upload or a merged dataset by its own labels.task, never an upload a merge took. Deleting the task unlinks it. A mixture source can follow every episode linked to one task (Source.linked_task). Every take of an upload or a merged dataset with no link of its own reads the dataset's (Episode.linked_task_inherited): a merged dataset's takes read its own, not their uploads', so setting it links them all at once; UpdateDatasetRequest.relink_episodes moves the takes linked to the old one as well. linkedTaskRevision: readOnly: true type: integer description: |- The revision of linked_task the link carries, and the one checks judge the dataset's takes against: the Task's newest published revision when the link was made. 0 when unlinked, when the Task had no published revision then (its draft is judged), and on a mixture, which carries no link of its own. Publishing a newer revision leaves it, and starts no check; RelinkTask moves it to latest_task_revision and reruns. format: int32 latestTaskRevision: readOnly: true type: integer description: |- linked_task's newest published revision, 0 when it has none (or nothing is linked, or on a mixture). Above linked_task_revision: the link has drifted, and RelinkTask would relink it. format: int32 interfaceSettlement: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.Dataset_InterfaceSettlement" description: |- Merged dataset only: member interfaces ready to freeze as one, and the uploads still awaiting or differing from the first member's interface. workspaceId: readOnly: true type: string description: |- The project that owns the dataset, empty when it is in the account's default workspace. Gateway clients select it with X-Qualia-Workspace. mergedSettingsContext: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.MergedSettingsContext" description: |- No longer set: a merge is final and a merged dataset is not corrected through its uploads. It was GetDataset's merged membership for a member settings operation. posesEligible: readOnly: true type: boolean description: |- No longer set: a merged dataset's poses are not resolved through its uploads. settingsSettlement: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.Dataset_InterfaceSettlement" description: |- No longer set: a merged dataset's uploads were settled at the merge (one contract, one pose frame); interface_settlement is its view of an interface still re-deriving. settingsUnavailableReason: readOnly: true type: string description: No longer set, with settings_settlement. taskReferences: readOnly: true type: array items: $ref: "#/components/schemas/qualia.v1.Dataset_TaskReferences" description: "GetDataset only: one per Task, by display name." taskReferencedEpisodeCount: readOnly: true type: integer description: |- GetDataset only: how many distinct episodes those Tasks reference (an episode two Tasks reference counts once). format: int32 tags: type: array items: type: string description: |- This dataset's tags: up to 64 nonblank strings of at most 256 bytes. Recognized collection names are teleop, vr, umi, egocentric, policy-rollout, sim, real-world, human and gello; they are ordered first in that order, followed by free tags in lexical order. Environment, origin, method and controller derive from saved metadata. The tags mask may echo unchanged classifications and edit custom strings only; use typed metadata masks for classification changes or Unknown. A merged dataset owns its metadata, which is never written to its uploads or replaced when uploads are appended. A mixture reads the tags of its sources. Distinct from episode curation and version tags. posePreparation: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.MergedPosePreparation" description: |- GetDataset only, merged datasets: each upload's progress toward its own recognized rig's CURRENT capture calibration. Independent of playback robot selection. A failed read is unknown, never a completed preparation. composedUmiRig: readOnly: true type: string description: |- accounts/{account}/robots/{robot}: a Robot resource name, the UMI rig's gripper row (a Robot of kind GRIPPER with a rig kind). It is NOT the legacy accounts/{account}/rigs/{rig} Rig resource. The UMI rig this upload was composed with when it began: the gripper the uploader named, else the workspace's one UMI rig. Recorded at publication, so a later edit or deletion of the rig does not change it. A copy in the same workspace carries it; a move to a workspace where the rig does not exist clears it (it is not listed among the robots cleared, and a move back does not restore it). Set by each upload's publication from that upload's own begin, empty included; a re-ingest, resolve or cut leaves it. Empty when no rig row composed the upload: it predates this field; it was uploaded by an SDK that sends no transfer session; the workspace's rig was lent unasked and the tree kept its own TCP; it is a UMI recording only ingest recognises (channel names, a LeRobot robot_type); the merged dataset it appends to lent its members' rig, which is their config, not a row; it was copied across workspaces; it was recorded on a robot's joints (see source_robot); or it is not an upload. Not set on a merged dataset or a mixture. rigs: readOnly: true type: array items: $ref: "#/components/schemas/qualia.v1.DatasetRig" description: |- The rigs this dataset's uploads were recorded on, most uploads first; ties by resource name (a client that shows display names orders ties itself); the entry with no robot last whatever its count. An upload is recorded on one rig: a handheld (UMI) upload's is the UMI rig that composed it (composed_umi_rig), and any other upload's is its source_robot. A merged dataset lists the distinct rigs of the uploads it holds, and a mixture those of the uploads it read at its last resolve, each with how many were recorded on it. Computed when read, never stored, so it follows a robot assignment, an append, a member's removal and a revert. An upload with no rig is counted in the entry with no robot, never dropped. That is a handheld upload published before uploads recorded their rig, or whose latest upload composed none (a kept tree TCP, a rig lent by the merge target, an SDK that names no transfer session, a recording only ingest recognises as handheld), an upload copied across workspaces, and an upload of a robot's joints with no robot assigned. A handheld upload never lists source_robot, which is a robot, not a gripper design. Known limit: a merge's old "Recorded on" answer, and a source_robot written on a merged dataset, are written to every upload the dataset holds, and only arm uploads list it, so such a dataset lists one rig for arm uploads that may have been recorded on several. description: |- A dataset is an upload (one recording session, as it arrived), a mixture (kept up to date from other datasets) or a merge of uploads (several uploads reviewed, versioned and trained as one). All three have the same page and the same API: episodes, issues and versions nest under any of them. Served by qds-api. qualia.v1.Dataset_Labels: type: object properties: task: type: string description: Task label, e.g. "restock shelf". Empty means unlabeled. robot: type: string description: |- The robot label as recorded (a robot type key such as "openarm"), or "umi-handheld" for handheld capture. Not the fleet robot; see source_robot. operator: type: string description: Operator label (a name or a hashed id). method: type: string description: |- Legacy single-method value: teleop, vr, handheld, egocentric, policy_rollout, umi, policy-rollout, sim, or empty. An upload's starts as its episodes' commonest. scene: type: string description: Scene label, e.g. "shelf". methods: type: array items: type: string description: |- Compatibility projection of Dataset.tags containing only the original six collection-method names, including saved axis aliases. Legacy method edits declare their human methods and positive axis aliases; existing saved independent axes and free names remain authoritative. Use typed axis paths or human_methods_only for independent edits. environment: enum: - ENVIRONMENT_UNSPECIFIED - ENVIRONMENT_UNKNOWN - REAL_WORLD - SIMULATION type: string description: |- Saved environment authority for derived real-world/sim tags. An axis edit changes only its pair; missing evidence does not prove real-world. format: enum origin: enum: - ORIGIN_UNSPECIFIED - ORIGIN_UNKNOWN - HUMAN_COLLECTED - POLICY_ROLLOUT type: string description: |- Saved origin authority for derived human/policy-rollout tags. Missing policy metadata never proves human-collected origin. format: enum teleopInput: enum: - TELEOP_INPUT_UNSPECIFIED - TELEOP_INPUT_UNKNOWN - VR - GELLO type: string description: |- Saved controller authority for derived vr/gello tags. A controller does not establish teleoperation, and absence establishes no controller. format: enum description: |- The session-level labels an upload travels with. A mixture source can follow every upload that carries one value (see Source.label). qualia.v1.Dataset_Counts: type: object properties: episodes: readOnly: true type: string description: "Episodes in the dataset (for a mixture: in its resolved head)." frames: readOnly: true type: string description: Frames across every episode. durationSeconds: readOnly: true type: number description: Recorded time across every episode, in seconds. format: double kept: readOnly: true type: string description: Episodes standing KEPT here. unreviewed: readOnly: true type: string description: Episodes standing UNREVIEWED here. rejected: readOnly: true type: string description: Episodes standing REJECTED here (validation rejects included). rejectedValidation: readOnly: true type: string description: Of those, rejected by ingest validation. openIssues: readOnly: true type: string description: |- Open blocking issues in this dataset's scope, on the dataset itself or on episodes not rejected here. sizeBytes: readOnly: true type: string description: |- Upload only, and set by GetDataset alone (it sums every file): the bytes of every file in its repository as published. fileCount: readOnly: true type: string description: "Upload only, and set by GetDataset alone: how many files those are." ruled: readOnly: true type: string description: |- Episodes a person ruled on here: those a person's keep or reject in this dataset's scope (a merged dataset's: its uploads' too) stands on, a split take's on each of its pieces without a ruling of their own. An episode kept because nothing blocks it, and a validation reject, are not counted. At most `kept + rejected`. description: Row counts. Frame totals can exceed 2^31, so they are int64 (a JSON string). qualia.v1.Dataset_Channels: type: object properties: stable: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.Dataset_Ref" description: The newest tag; unset when there is none yet. head: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.Dataset_Ref" description: What the dataset yields now; always set. description: What each channel resolves to right now. qualia.v1.Dataset_Ref: type: object properties: version: readOnly: true type: string description: The version tag it stands at, e.g. "1.0"; empty for head. digest: readOnly: true type: string description: Content digest of the episode set, "b3:". episodeCount: readOnly: true type: string description: Episodes in that set. description: One resolved reference. qualia.v1.Dataset_Drift: type: object properties: version: readOnly: true type: string description: The tag measured from; empty when the dataset has no tag yet. added: readOnly: true type: string description: Episodes head yields that the tag does not. removed: readOnly: true type: string description: Episodes the tag pins that head no longer yields. changed: readOnly: true type: string description: |- Episodes in both whose pinned revision differs from head's (an edit: trim, subtasks, tags). Training reads exact revisions, so these count. description: |- How far head has moved past the newest tag. A dataset whose drift is not empty lights its tag button. qualia.v1.Dataset_InterfaceSummary: type: object properties: interfaceHash: readOnly: true type: string description: Canonical robot-interface hash `b3:`; empty until derived. stateChannels: readOnly: true type: array items: type: string description: Canonical state channel keys, e.g. "left.joint.1", "right.ee.x". actionChannels: readOnly: true type: array items: type: string description: Canonical action channel keys. cameras: readOnly: true type: array items: type: string description: Camera keys, e.g. "context", "wrist_left". fps: readOnly: true type: number description: Frames per second of the data rows. format: double mixed: readOnly: true type: boolean description: "Mixture only: the episodes it reads come from more than one interface." nativeStateChannels: readOnly: true type: array items: $ref: "#/components/schemas/qualia.v1.InterfaceSummary_Channel" description: |- Each state channel in vector order. A converted handheld upload's are the pair-frame channels its takes are sampled in. A merged dataset's are its uploads' (one entry per native channel, with `sides` where they resolve it differently), on GetDataset only. Empty on a mixture, whose uploads each place their channels their own way. nativeActionChannels: readOnly: true type: array items: $ref: "#/components/schemas/qualia.v1.InterfaceSummary_Channel" description: Each action channel in vector order, as `native_state_channels`. nativeCameras: readOnly: true type: array items: $ref: "#/components/schemas/qualia.v1.InterfaceSummary_Channel" description: |- Each recorded camera with the camera key it is read as: `native_name` is the recording's feature (e.g. "observation.images.top") and `canonical_key` the key. A person's channel mapping can key a camera otherwise than its name ("observation.images.top" as "cam.overhead"). An upload's are its cameras in recording order; an entry without `sides` binds the upload's own episodes only. A merged dataset's or a mixture's are one per feature any upload it reads records, in the order the first such upload places it, always with `sides` naming those uploads, and `canonical_key` the commonest key. So an episode reads a camera from the feature whose entry gives it that key for the episode's upload, and records the camera nowhere when no entry does. A version can pin episodes of an upload the dataset no longer reads: no entry names it, so its cameras are recorded nowhere. description: |- What the compatibility check reads: the robot interface and the cameras. For a mixture it is the intersection over what it reads, with `mixed` set when the interfaces differ. qualia.v1.InterfaceSummary_Channel: type: object properties: nativeIndex: readOnly: true type: integer description: |- Its position in the state or action vector: the n of the "state[n]" and "action[n]" keys Episodes.SampleEpisodeSeries returns. A camera's is its place among the recording's cameras. format: int32 nativeName: readOnly: true type: string description: The name the recording gives it, e.g. "left_joint_1.pos". canonicalKey: readOnly: true type: string description: |- The canonical key it resolves to, e.g. "left.joint_1.pos"; "unmapped:" when the name could not be read. unit: readOnly: true type: string description: '"rad", "m" or "norm"; empty when not known.' mapped: readOnly: true type: boolean description: True when a person's channel mapping resolved it, not the name. sides: readOnly: true type: array items: $ref: "#/components/schemas/qualia.v1.InterfaceSummary_KeySide" description: |- A merged dataset's state or action channel: each key its uploads resolve it to, with the uploads that give it, when they do not agree (a merged dataset made before its merge asked, or while a remap settles). Empty when every upload gives `canonical_key`. A camera (`native_cameras`): each key it is read as, with the uploads that read it so. Always set on a merged dataset's or a mixture's, even where its uploads agree. On an upload's, set only when the upload reads one feature as two keys. description: |- One state, action or camera channel of an upload: where it sits in the recording and the canonical key it resolves to. qualia.v1.InterfaceSummary_KeySide: type: object properties: canonicalKey: readOnly: true type: string description: The canonical key, e.g. "gripper.pos". datasets: readOnly: true type: array items: type: string description: "accounts/{account}/datasets/{dataset}: the uploads that give it." description: |- One canonical key some of a merged dataset's (or, for a camera, a mixture's) uploads give a channel. qualia.v1.Actor: type: object properties: kind: readOnly: true enum: - KIND_UNSPECIFIED - PERSON - VALIDATION - RULE - MODEL - OPERATOR - SYSTEM type: string description: What kind of actor it is. format: enum user: readOnly: true type: string description: The person's user id when `kind` is PERSON; empty otherwise. displayName: readOnly: true type: string description: The person's display name at the time, for rendering without a lookup. agent: readOnly: true type: string description: |- The rule code, or for a MODEL the Qualia model tier (e.g. "qualia-vlm"; "qualia" for any other model), when not a person. run: readOnly: true type: string description: The run a model or rule finding came from, when it has one. apiKey: readOnly: true type: string description: |- The API key's id when a person acted through one; empty for a session. Never the key itself. attribution: readOnly: true allOf: - $ref: "#/components/schemas/qualia.v1.Attribution" description: |- Signed identity evidence recorded with the change, kept apart from the principal above. Unset on older records and wherever none was signed. description: Who did something. Every decision, issue and reply names one. qualia.v1.Attribution: type: object properties: authentication: readOnly: true enum: - AUTHENTICATION_UNSPECIFIED - SESSION - API_KEY - SERVICE type: string description: How the principal authenticated. format: enum initiator: readOnly: true type: string description: |- The user id of a person verified as starting the work: the person of a session, or the person a trusted service's signed job record names. Empty when nobody was verified. initiatorDisplayName: readOnly: true type: string description: The initiator's display name at the time, never their email. credentialCreator: readOnly: true type: string description: The user id of the key's creator at the time. Not who used the key. credentialOwner: readOnly: true enum: - CREDENTIAL_OWNER_UNSPECIFIED - PERSON - SPACE type: string description: Who owned the key at the time. format: enum credentialOwnerSpace: readOnly: true type: string description: |- The owning space's id (a workspace or the organization) when `credential_owner` is SPACE. description: |- How a change was authenticated and who verifiably started it. Only the trusted mesh signs it. It never authorizes anything, and a key's creator or owner is never the person who used the key. qualia.v1.TcpCalibration: required: - filename - hands type: object properties: filename: type: string description: The uploaded file's name, e.g. "tcp_calibration.json". deriveDate: type: string description: |- When the calibration was made, "YYYY-MM-DD": the leading date of the file's `calibrated` or else its `derived` text. Empty when the file gives none. hands: type: array items: $ref: "#/components/schemas/qualia.v1.TcpCalibration_Hand" description: Both hands, left then right. eeLink: type: string description: |- The link of the rig's gripper design that `Hand.ee_to_tcp` is a pose in, with `{side}` for "left" or "right" (the gripper joint's convention in RobotModel.Gripper), e.g. "openarm_{side}_ee_base_link". Read from the file's own description of its end-effector frame. Empty when the file names none, lacks the end-effector poses, or they disagree with its controller_to_tcp (then no `ee_to_tcp` is set either). Display only. `ee_to_tcp` is drawn in this link's own frame, which must be the plain end-effector frame the file means. An export whose link sits elsewhere draws the TCP off by the difference: an OpenArm exported with the xacro default collapse_internal_empty_links puts openarm__ee_base_link at link7, 20.5 mm behind the frame the calibration is in. description: |- A handheld rig's calibration of its trackers to the gripper's tool centre point (TCP, the midpoint of the closed fingertips). It is what a tcp_calibration.json holds as `.controller_to_tcp`: the TCP's pose in the tracker's frame, so a pose recorded at a tracker becomes the pose of the TCP by composing it with this transform. A file that also names the gripper's end-effector link gives the same TCP in that link's frame (`ee_link`, `Hand.ee_to_tcp`), which is what a rig's gripper design (Rig.gripper) draws the TCP with. Those two are for display: poses are resolved and uploads converted with `tracker_to_tcp`, `filename` and `derive_date` alone, never with `ee_to_tcp`. So compare two calibrations on those, `hands[].side` and `hands[].tracker_to_tcp` only: a copy kept elsewhere (a dataset keeps the calibration its poses were resolved with) carries just those, and a whole-message comparison would call every calibration that has the end-effector fields replaced. qualia.v1.TcpCalibration_Hand: required: - side - trackerToTcp type: object properties: side: enum: - SIDE_UNSPECIFIED - SIDE_LEFT - SIDE_RIGHT type: string description: Which hand. format: enum trackerToTcp: allOf: - $ref: "#/components/schemas/qualia.v1.Transform" description: |- The TCP's pose in the tracker's frame: xyz in metres and rpy in radians (URDF convention, extrinsic XYZ), the file's rotation matrix converted. A rotation whose pitch is within a hair of +-90 degrees has no unique roll and yaw; it is stored with roll 0. eeToTcp: allOf: - $ref: "#/components/schemas/qualia.v1.Transform" description: |- The same TCP in the frame of the gripper design's `ee_link` for this hand, in the form of `tracker_to_tcp` (so the same pitch limit). Display only. Set with `ee_link` or not at all, and only when it composes with the file's controller_to_ee to the file's controller_to_tcp, which is what makes the TCP drawn the TCP used. description: One hand's transform. qualia.v1.Transform: type: object properties: xyz: type: array items: type: number format: double description: x, y, z in metres. rpy: type: array items: type: number format: double description: roll, pitch, yaw in radians. description: |- A 3D rigid transform: translation in metres and roll, pitch, yaw in radians (URDF convention, extrinsic XYZ). qualia.v1.ReachSettings: type: object properties: solver: enum: - SOLVER_UNSPECIFIED - PYROKI - DLS - MINK type: string description: |- The IK solver the dataset is solved with: always its target robot's, and set only on a status read (a run's resolved settings). A dataset does not pick one: a request that names a solver here (UpdateDataset, CreateDataset) is refused with INVALID_ARGUMENT ("a dataset uses its robot's solver; change it on the robot's Solver page"), and a solver stored on a dataset before that is ignored. A robot with no solver cannot be solved on. format: enum baseM: type: array items: type: number format: double description: |- Where the takes' start sits from the relaxed grippers' midpoint, metres in the robot's base frame (x forward, y left, z up): empty or exactly three numbers, each finite and within 5 m either way. Empty follows the target robot model's `reach_base`, else 0, 0, 0. Stored to 0.1 mm and applied to both hand paths as one rigid translation from the robot's home hand midpoint. homeHeadingRad: type: number description: |- Rotate both paired paths around world up before placing their first-row midpoint at the shared home reference. Radians; finite and within +/- pi. The robot base remains at world (0, 0, 0). format: double poseSource: readOnly: true enum: - POSES_AT_UNSPECIFIED - ROOT - TCP type: string description: |- Where the source episode's hand poses were recorded. Set by qds-api on reads; clients do not set it. TCP runs consume already-resolved TCP channels and never apply calibration again. format: enum calibrationDigest: readOnly: true type: string description: |- Digest of the TCP calibration already applied to the published upload, empty for root poses. Set by qds-api on reads. description: |- How a dataset's reach check is walked: where the takes start and which way they face. It is stored on the dataset, so two datasets over one robot keep their own, and it is part of the key a reach result is stored under: a result is shared by every dataset that asks the same question (same robot config, solver, base and walk), and a change here leaves the old results as they are until the next RunCheck on `checks/reach`. The solver is not a dataset's to choose: a dataset uses its robot's, tuned in the robot's solver file. Served by qds-api. qualia.v1.Dataset_InterfaceSettlement: type: object properties: settledMembers: readOnly: true type: integer description: Number of merged members whose derived interfaces are settled. format: int32 totalMembers: readOnly: true type: integer description: Total number of uploads in the merged dataset. format: int32 outstandingUploads: readOnly: true type: array items: type: string description: Upload resource names whose interfaces are not settled yet. description: |- Progress toward one settled robot interface across a merged dataset's uploads. A member remains outstanding while its accepted mapping lens is still being re-derived, or when its derived interface differs from the merged dataset's first member. qualia.v1.MergedSettingsContext: required: - mergedDataset - members - membershipRevision - etag type: object properties: mergedDataset: type: string description: The merged dataset whose membership was confirmed. members: type: array items: type: string description: Every upload it held, in merge order, including the selected upload. membershipRevision: type: string description: Opaque merge/undo epoch from GetDataset; never recapture it on retry. etag: type: string description: The dataset's editable etag; a member edit sends the selected upload's. sourceCommit: type: string description: |- The selected upload's exact paired head. Empty on the merged dataset's context, which is used only to fence global label edits. description: |- No longer answered: a merge is final and a merged dataset is not corrected through its uploads. One an older client still sends is checked: every resource in the caller's account/workspace, the exact ordered membership, the selected upload's etag and its published head. A stale context is ABORTED. qualia.v1.Dataset_TaskReferences: type: object properties: task: readOnly: true type: string description: accounts/{account}/tasks/{task} displayName: readOnly: true type: string description: The Task's display name. episodeCount: readOnly: true type: integer description: How many of the dataset's episodes it references. format: int32 description: |- The Tasks this dataset's episodes are references of: a reference names its episode where it was recorded, or the merged dataset that upload went into, so a mixture has none. Deleting the dataset removes those references (the Tasks stay), so DeleteDataset refuses until it is sent with force. qualia.v1.MergedPosePreparation: type: object properties: membershipRevision: readOnly: true type: string description: |- Opaque ordered-membership epoch. Send it back on an explicit move or removal; a changed membership is ABORTED and must be confirmed again. currentMembers: readOnly: true type: integer description: Number already at their current capture calibration. format: int32 totalMembers: readOnly: true type: integer description: Number of uploads in the current membership. format: int32 members: readOnly: true type: array items: $ref: "#/components/schemas/qualia.v1.MemberPosePreparation" description: Preparation state for each upload, in membership order. applicable: readOnly: true type: boolean description: False when none of these recordings has handheld poses to prepare. description: Current TCP preparation of the uploads held by one merged dataset. qualia.v1.MemberPosePreparation: type: object properties: upload: readOnly: true type: string description: The source upload resource. displayName: readOnly: true type: string description: The source upload's display name. state: readOnly: true enum: - STATE_UNSPECIFIED - CURRENT - READY - RUNNING - BLOCKED - FAILED type: string description: The upload's current preparation state. format: enum reason: readOnly: true type: string description: Human-readable explanation when applicable. operationId: readOnly: true type: string description: UUID polled at this upload's reingests/{operation_id} resource. rigKey: readOnly: true type: string description: Recording rig, never an editable collection tag or playback robot. calibrationGripper: readOnly: true type: string description: The capture gripper supplying the calibration. calibrationEtag: readOnly: true type: string description: The capture calibration's version. publishing: readOnly: true type: boolean description: Preparation is complete and its publication is pending; it cannot be cancelled. description: |- One upload's current state. Names and reasons are suitable for the merged dataset's pre-check; no source data or historical rulings are removed. qualia.v1.DatasetRig: type: object properties: robot: readOnly: true type: string description: |- accounts/{account}/robots/{robot}: the rig's Robot (a UMI rig's gripper row, or the robot an arm upload was recorded on). A rig that no longer resolves to a robot is still named here. Empty counts the uploads whose rig was never recorded. uploadCount: readOnly: true type: integer description: How many of the dataset's uploads were recorded on it. format: int32 description: "One rig a dataset's uploads were recorded on: see Dataset.rigs." google.rpc.Status: oneOf: - $ref: "#/components/schemas/ApiError" - $ref: "#/components/schemas/GatewayError" description: "The body of a failed call: one of the two shapes below." ApiError: title: API error type: object required: - code - message - retryable - details properties: code: type: string description: The gRPC code name in upper case, e.g. `NOT_FOUND`. message: type: string retryable: type: boolean description: Whether the same call may succeed if retried. details: type: array items: type: object description: "Empty, except when a dataset copy or move is refused: then one `google.rpc.ErrorInfo` with the refusal's `reason` code, its `domain` and, in `metadata`, the datasets it names." description: A refusal from the API itself. GatewayError: title: Gateway error type: object required: - detail properties: detail: type: string description: What went wrong. description: A refusal from the gateway before the call reaches the API, for example `401` bad or missing API key, `403` key lacks the scope or environment closed, `413` body too large. ```