| { |
| "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": "pickfruit" |
| } |
|
|
