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"schema_version": "worldoracle.human_hand.absolute_pose.v1",
"embodiment": "ego_human_bimanual",
"fps": 15.0,
"contains_delta_action": false,
"initial_observations": {
"description": "Frame 0 input images for the released camera views."
},
"hand_camera_poses": {
"path": "controls/hand_camera_poses.npz",
"alignment": "sample t corresponds to episode frame t",
"arrays": {
"left_positions_camera": "[T, 21, 3] float, left-hand joints in camera coordinates",
"right_positions_camera": "[T, 21, 3] float, right-hand joints in camera coordinates",
"left_quaternions_camera_xyzw": "[T, 21, 4] float, XYZW quaternions",
"right_quaternions_camera_xyzw": "[T, 21, 4] float, XYZW quaternions",
"left_valid": "[T] boolean validity mask",
"right_valid": "[T] boolean validity mask",
"camera_position_world": "[T, 3] float camera-reference position",
"camera_quaternion_world_xyzw": "[T, 4] float XYZW camera-reference orientation",
"camera_valid": "[T] boolean validity mask"
}
},
"task": "pulldrawer"
}
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