Datasets:
rooty2020
/
RB-Y1_WujiHand2_teleop_ego_exo_100_pointtracks

Dataset card Data Studio Files
xet
 Community
1
dataset
string
source
string
robot
string
episodes
int64
frames_15hz
int64
fps
int64
fps_original
int64
per_episode
dict
projection
string
notes
list
convention
string
point_frame
string
differs_from_usual_format
string
RB-Y1 WujiHand2 teleop ego+exo — 3D robot+hand point tracks
kdh8156/RB-Y1_WujiHand2_teleop_ego_exo_100
rby1m_wujihand2
100
22,758
15
30
{ "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" }
p_cam = R @ p_base + t using meta.cameras.<cam>.T_<cam>_base; u=fx*x/z+cx, v=fy*y/z+cy
[ "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) ac...
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).
robot_base
hand.npz(not gripper.npz); ego/exo.mp4(not view1/view2); base-frame points(not view1-cam-frame); episode_XXX dirs