EgoExplorer Guidelines

中文 | English

EgoExplorer 采集与处理指南：从硬件、佩戴、主机设置、采集和标定，到原始数据 → SMPL-X → 30 Hz 统一导出 → 三联校验 → LeRobot v3.0。内容依据实际使用的代码和参数整理，整条处理管线在一台机器上就能完成。

代码：InternRobotics/egoexplorer-toolkit · 网页版：https://internrobotics.github.io/EgoExplorer-Guidelines/

#	中文	English
0	总览	Overview
1	硬件与佩戴	Hardware and wearing
2	采集主机设置	Capture host setup
3	采集程序	Capture program
4	采集流程	Capture workflow
5	标定	Calibration
6	原始数据格式	Raw data format
7	从原始数据到 SMPL-X	From raw data to SMPL-X
8	30 Hz 统一导出	Unified 30 Hz export
9	质检与三联校验	QC and three-pane review
10	转换为 LeRobot v3.0	Converting to LeRobot v3.0
11	坐标系约定	Coordinate conventions
12	运行环境与常见问题	Environment and common problems

速查

佩戴  5 个 VIVE Ultimate Tracker + 手套（MANUS 或 Wuji）+ GoPro HERO13（头部，与头部 tracker 刚性相连）
标定  每次佩戴录一段 01–17 标定动作 → calibrate-subject → subject_profile.json
采集  每条录制 5 个文件：mp4 / video.npz / npz / tracker.npz / session.json
处理  左右检查与修正 → 投影 → 手部融合 → 30 Hz 导出 → 三联校验页与总览页（scripts/run_pipeline.sh all）
发布  LeRobot v3.0：30 Hz，四元数 xyzw，+Y 向上（scripts/build_lerobot_dataset.py）

---

English

A guide to capturing and processing EgoExplorer data: hardware, wearing, host setup, capture and calibration, then raw data → SMPL-X → unified 30 Hz export → three-pane review → LeRobot v3.0. Everything follows the code and parameters we actually use, and the whole processing pipeline runs on one machine. Code: InternRobotics/egoexplorer-toolkit. Use the table above or the navigation bar.

Wear      5 VIVE Ultimate Trackers + gloves (MANUS or Wuji) + GoPro HERO13 (on the head, rigid to the head tracker)
Calibrate per donning: record the 01–17 protocol → calibrate-subject → subject_profile.json
Capture   5 files per recording: mp4 / video.npz / npz / tracker.npz / session.json
Process   L/R checks and fixes → projection → hand fusion → 30 Hz export → review pages and gallery (scripts/run_pipeline.sh all)
Release   LeRobot v3.0: 30 Hz, xyzw quaternions, +Y up (scripts/build_lerobot_dataset.py)