Document retarget/ subfolder

README.md

@@ -1,14 +1,3 @@
----
-license: other
-license_name: fair-noncommercial-research-license-v1
-license_link: https://huggingface.co/datasets/Rice-RobotPI-Lab/egoinfinity/blob/main/LICENSE-Action100M
-pretty_name: EgoInfinity
-viewer: false
-tags:
-  - egocentric
-  - derivative-of-action100m
----
-
 # EgoInfinity (preview)
 
 Derivative scene assets for a curated subset of Action100M (Meta FAIR) clips.
@@ -20,3 +9,26 @@ Derivative scene assets for a curated subset of Action100M (Meta FAIR) clips.
 FAIR Noncommercial Research License v1 (see [LICENSE-Action100M](LICENSE-Action100M)). Noncommercial research only.
 
 Built by the **Rice RobotPI Lab**.
+
+## Retarget
+
+For 104 of the clips under `samples/`, we provide retargeting results on four
+robot embodiments under `samples/<clip>/retarget/<robot>/`:
+
+- `franka` — Franka Panda (7-DoF arm + 1-DoF gripper)
+- `g1` — Unitree G1 (7-DoF arm + 7-DoF hand)
+- `robonaut2` — NASA Robonaut 2 (7-DoF arm + 18-DoF hand)
+- `xlerobot` — XLeRobot (5-DoF arm + 1-DoF gripper)
+
+Each `<robot>/` folder contains:
+
+| File              | Description                                       |
+|-------------------|---------------------------------------------------|
+| `input_viz.mp4`   | Ego input visualization used by the retargeter    |
+| `robot_sim.mp4`   | Sim replay of the retargeted trajectory           |
+| `trajectory.npz`  | Per-frame `q_left`, `q_right`, finger joints, joint names, fps, clip id |
+| `torso_frames.npz`| Per-frame torso pose (`R_per_frame`, `t_per_frame`) plus anchor frame |
+| `metrics.npz`     | IK success rate, position/orientation error (per-frame, mean, converged-only), joint-limit margin, manipulability, roughness |
+
+Per-clip frame counts range from 29 to 734; per-clip fps is recorded in
+`trajectory.npz` (`fps` key) and is not uniform across clips.