manifest: note format differences

manifest.json

@@ -1,21 +1,26 @@
 {
- "dataset": "RB-Y1 + WujiHand2 teleop ego/exo \u2014 arm+hand 3D point tracks (GT FK)",
+ "dataset": "RB-Y1 WujiHand2 teleop ego+exo \u2014 3D robot+hand point tracks",
  "source": "kdh8156/RB-Y1_WujiHand2_teleop_ego_exo_100",
- "n_episodes": 100,
+ "robot": "rby1m_wujihand2",
+ "episodes": 100,
+ "frames_15hz": 22758,
  "fps": 15,
  "fps_original": 30,
- "resample": "every 2nd frame (30->15 Hz), points/videos/actions consistent",
- "per_episode": [
-  "robot.npz(T,512,3)",
-  "hand.npz(T,256,3)",
-  "meta.json",
-  "ego.mp4",
-  "exo.mp4",
-  "action.parquet"
+ "per_episode": {
+  "robot.npz": "(T,512,3) arm points, robot BASE frame",
+  "hand.npz": "(T,256,3) WujiHand2 hand points, robot BASE frame",
+  "ego.mp4/exo.mp4": "15fps intra-only (-g 1)",
+  "action.parquet": "actions @15Hz",
+  "meta.json": "ego+exo intrinsics & extrinsics (T_ego_base,T_exo_base), per-frame ego pose, convention"
+ },
+ "projection": "p_cam = R @ p_base + t using meta.cameras.<cam>.T_<cam>_base; u=fx*x/z+cx, v=fy*y/z+cy",
+ "notes": [
+  "Points via FK from observation.joint_position through the meta/robot_model MJCF.",
+  "Cameras from camera_calibration.json (NOT the MJCF-attached camera).",
+  "EXO calibration dead-on; EGO has a small far-left residual (dataset's own manual ego extrinsic fit, IoU~0.8).",
+  "Resampled 30->15 Hz (every 2nd frame) across points/videos/actions."
  ],
- "point_frame": "robot base",
- "convention": "p_cam = R @ p_base + t with T_cam_base; u=fx*x/z+cx, v=fy*y/z+cy",
- "cameras": "ego(per-frame extrinsic)+exo(static) intrinsics/extrinsics from source camera_calibration.json",
- "note": "ego extrinsic is the dataset's own manual RGB fit (IoU~0.8); small far-left residual. arm=512 hand=256.",
- "built": "2026-09-20 17:26:37"
+ "convention": "points in ROBOT BASE frame; p_cam = T_cam_base @ p_base (T_ego_base / T_exo_base in meta). DIFFERS from usual bw_jh (per-frame view1 cam frame / cam_from_world).",
+ "point_frame": "robot_base",
+ "differs_from_usual_format": "hand.npz(not gripper.npz); ego/exo.mp4(not view1/view2); base-frame points(not view1-cam-frame); episode_XXX dirs"
 }