{
 "dataset": "RB-Y1 WujiHand2 teleop ego+exo \u2014 3D robot+hand point tracks",
 "source": "kdh8156/RB-Y1_WujiHand2_teleop_ego_exo_100",
 "robot": "rby1m_wujihand2",
 "episodes": 100,
 "frames_15hz": 22758,
 "fps": 15,
 "fps_original": 30,
 "per_episode": {
  "robot.npz": "(T,512,3) arm points, robot BASE frame",
  "hand.npz": "(T,256,3) WujiHand2 hand points, robot BASE frame",
  "ego.mp4/exo.mp4": "15fps intra-only (-g 1)",
  "action.parquet": "actions @15Hz",
  "meta.json": "ego+exo intrinsics & extrinsics (T_ego_base,T_exo_base), per-frame ego pose, convention"
 },
 "projection": "p_cam = R @ p_base + t using meta.cameras.<cam>.T_<cam>_base; u=fx*x/z+cx, v=fy*y/z+cy",
 "notes": [
  "Points via FK from observation.joint_position through the meta/robot_model MJCF.",
  "Cameras from camera_calibration.json (NOT the MJCF-attached camera).",
  "EXO calibration dead-on; EGO has a small far-left residual (dataset's own manual ego extrinsic fit, IoU~0.8).",
  "Resampled 30->15 Hz (every 2nd frame) across points/videos/actions."
 ],
 "convention": "points in ROBOT BASE frame; p_cam = T_cam_base @ p_base (T_ego_base / T_exo_base in meta). DIFFERS from usual bw_jh (per-frame view1 cam frame / cam_from_world).",
 "point_frame": "robot_base",
 "differs_from_usual_format": "hand.npz(not gripper.npz); ego/exo.mp4(not view1/view2); base-frame points(not view1-cam-frame); episode_XXX dirs"
}