Real-Robot/_source/README_pointtracks.md

metadata

license: cc-by-nc-4.0
tags:
  - robotics
  - point-tracking
  - 3d
  - dexterous-hand
  - teleop
  - ego-exo
pretty_name: RB-Y1 WujiHand2 arm+hand 3D point tracks

RB-Y1 + WujiHand2 — ego+exo 3D robot & hand point tracks

3D point tracks for 100 teleop episodes of RB-Y1 with WujiHand2 dexterous hands, ego (ZED-M) + exo (ZED 2i) views. Resampled to 15 Hz (22758 frames).

Per episode (episode_XXX/)

file	contents
robot.npz	arm points (T,512,3), robot base frame
hand.npz	WujiHand2 hand points (T,256,3), robot base frame
ego.mp4,exo.mp4	the two views, 15 fps, intra-only (-g 1)
action.parquet	actions @15 Hz
meta.json	ego+exo intrinsics + T_ego_base/T_exo_base, per-frame ego pose

Projection

Points are in the robot base frame. To a camera: p_cam = R @ p_base + t with meta.cameras.<cam>.T_<cam>_base, then u=fx*x/z+cx, v=fy*y/z+cy.

Conventions

aspect	this dataset
hand file	hand.npz (WujiHand2 dexterous hand, 256)
video names	ego.mp4 (head-mounted, moving) + exo.mp4 (external, static)
point frame	robot base frame (project via T_ego_base/T_exo_base in meta)
tar layout	one tar of episode_XXX/

The points are not in a camera frame: apply meta.cameras.<cam>.T_<cam>_base before projecting.

Notes

• FK from observation.joint_position through the source meta/robot_model MJCF; cameras from camera_calibration.json.
• EXO projection is exact; EGO has a small far-left residual = the dataset's own manual ego extrinsic (IoU~0.8), not a pipeline issue.
• Original data 30 Hz → shipped 15 Hz (every 2nd frame, consistent across points/videos/actions).
• Source: kdh8156/RB-Y1_WujiHand2_teleop_ego_exo_100.