---
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`.

## Differences from the usual bw_jh_dataset format (DROID / RoboCasa / trellis)
This dataset intentionally deviates from our standard convention — read before plugging into the usual loader:

| aspect | usual bw_jh format | this dataset |
|---|---|---|
| gripper/hand file | `gripper.npz` (2F gripper) | **`hand.npz`** (WujiHand2 dexterous hand, 256) |
| video names | `view1.mp4`, `view2.mp4` (both exterior) | **`ego.mp4`** (head-mounted, moving) + **`exo.mp4`** (external, static) |
| point frame | **per-frame view1 camera frame** (`cam_from_world`, points already in-camera) | **robot base frame** (project via `T_ego_base`/`T_exo_base` in meta) |
| tar layout | shard tars of `<id>/` | one tar of `episode_XXX/` |

So it is **NOT drop-in** for a loader that assumes points are already in the view1 camera frame — apply `meta.cameras.<cam>.T_<cam>_base` first. Ask if you want a re-export in the exact usual format (view1/view2, gripper.npz, per-frame view1-cam-frame `cam_from_world`).

## 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`.