Datasets:
Camera intrinsics/extrinsics for the six views?
Thanks for the dataset and for clarifying the fingertip end-effector frame in the URDF thread — that answered a related question we had.
Separately: are camera intrinsics (and extrinsics between the six views, or between the cameras and the hand/end-effector frame) available or planned for release? We would like to pose the six camera views as calibrated frustums relative to the bimanual end-effector poses, but have not found calibration data in meta/info.json, meta/modality.json, or elsewhere in the repo. Any pointer would help.
One more question while we're here: the URDF thread (#1) mentioned a URDF model isn't currently provided. Is there any mesh/CAD file (STL/OBJ, even without joints or kinematics) for the gripper hardware that we could find or that could be shared? Even a static shell would let us visualize the gripper geometry alongside the fingertip pose data.
If the qr code is included in the mesh that is even nicer :)
One more question while we're here: the URDF thread (#1) mentioned a URDF model isn't currently provided. Is there any mesh/CAD file (STL/OBJ, even without joints or kinematics) for the gripper hardware that we could find or that could be shared? Even a static shell would let us visualize the gripper geometry alongside the fingertip pose data.
If the qr code is included in the mesh that is even nicer :)
We did not include the camera intrinsics in the dataset because the intrinsic parameters vary across devices, and at the moment it is difficult for us to provide accurate intrinsics for each individual sample. We apologize for the inconvenience.
Regarding your second question, we do not use a gripper mesh or CAD file in either our model training or visualization. As you can see from our videos, we simply use basic geometric shapes to represent the gripper for visualization.
For reference, we can provide some approximate dimensions: the distance from each fingertip to the rotation axis is about 12 cm. The two fingers rotate symmetrically, with a maximum opening angle of approximately 35° per finger, corresponding to about 70° in total. The maximum height of the glove is approximately 10 cm.
We hope these approximate dimensions are helpful for your visualization.