diff --git a/inputs/README.md b/inputs/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..32b10e9e1c917d282d2c21bee09354a359859429
--- /dev/null
+++ b/inputs/README.md
@@ -0,0 +1,20 @@
+---
+pretty_name: WorldOracle Validation Inputs
+---
+
+# WorldOracle Validation Inputs
+
+This directory contains the model inputs for the frozen WorldOracle validation
+split: initial observations, calibration metadata, and action/state trajectories.
+It does not contain test ground truth or future target videos.
+
+| Platform | Episodes |
+| --- | ---: |
+| AgiBot | 20 |
+| YAM | 15 |
+| Human Hand | 20 |
+| Policy | 12 |
+| **Total** | **67** |
+
+`validation_input_manifest.json` is the canonical inventory and
+`SHA256SUMS` records the checksum of every file in this directory.
diff --git a/inputs/SHA256SUMS b/inputs/SHA256SUMS
new file mode 100644
index 0000000000000000000000000000000000000000..f4b1be6e05a034bc84b321d3676cfd552f0a7b20
--- /dev/null
+++ b/inputs/SHA256SUMS
@@ -0,0 +1,642 @@
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diff --git a/inputs/agibot/README.md b/inputs/agibot/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..563585ad177ddc22ae73e48cea5ca5265453e119
--- /dev/null
+++ b/inputs/agibot/README.md
@@ -0,0 +1,13 @@
+# ACWMBench Inference Dataset
+
+This self-contained package provides initial RGB observations and aligned
+action/state trajectories for action-conditioned world-model evaluation.
+
+Only the initial observation is included. No future RGB frames are provided;
+predicting future visual outcomes is the responsibility of each model adapter.
+Every episode starts at frame zero, with timestamp equal to `frame_index / fps`.
+Action and state vectors retain their recorded values.
+
+Use `manifest.json` for episode discovery, the JSON schemas for structure, and
+`shared/g02/kinematics.json` for the mesh-free robot description. SHA-256
+manifests support integrity checks.
diff --git a/inputs/agibot/hangtowel/ep000018/calibration.json b/inputs/agibot/hangtowel/ep000018/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..764cc79955e4b8828b95bb8f3a56dfb97bef6cc6
--- /dev/null
+++ b/inputs/agibot/hangtowel/ep000018/calibration.json
@@ -0,0 +1,138 @@
+{
+  "cameras": {
+    "hand_left": {
+      "intrinsics": {
+        "Cx": 322.45109161542433,
+        "Cy": 264.59323760472944,
+        "Fx": 239.16597545872747,
+        "Fy": 239.18125843059562,
+        "SN": "FD6171140000c2af",
+        "k1": -0.0477441999255566,
+        "k2": -0.01025078205710165,
+        "k3": 0.001978136641965781,
+        "p1": 0.000417694731476042,
+        "p2": -0.00011052861896111814
+      },
+      "resolution": {
+        "height": "1056",
+        "width": "1280"
+      },
+      "transforms": [
+        {
+          "matrix": {
+            "calib_mode": "offline",
+            "rotation": {
+              "w": 0.6840394277009466,
+              "x": -0.1853413858942329,
+              "y": -0.18995433903720277,
+              "z": 0.6794527070417088
+            },
+            "sensor_model": "new_90d",
+            "translation": {
+              "x": 0.0755372854410307,
+              "y": 0.00035538911569674814,
+              "z": 0.09651973270778826
+            }
+          },
+          "name": "transform_00"
+        }
+      ]
+    },
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+          "description": "头部后鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            205,
+            206,
+            207
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/rotation_matrix": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/translation_vector": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            202,
+            203,
+            204
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/rotation_matrix": {
+          "description": "头部左鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/translation_vector": {
+          "description": "头部左鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            196,
+            197,
+            198
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/rotation_matrix": {
+          "description": "头部右鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/translation_vector": {
+          "description": "头部右鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            199,
+            200,
+            201
+          ]
+        },
+        "state/end/arm_orientation": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的姿态（RPY 弧度或四元数）",
+          "dimensions": 8,
+          "indices": [
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71
+          ]
+        },
+        "state/end/arm_position": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            72,
+            73,
+            74,
+            75,
+            76,
+            77
+          ]
+        },
+        "state/end/orientation": {
+          "description": "左右手臂末端姿态，四元数 XYZW，shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63
+          ]
+        },
+        "state/end/position": {
+          "description": "左右手臂末端位置（m），shape (2,3)，基于末端关节 FK 计算",
+          "dimensions": 6,
+          "indices": [
+            26,
+            27,
+            28,
+            29,
+            30,
+            31
+          ]
+        },
+        "state/end/velocity": {
+          "description": "左右手臂末端线速度（m/s），来自 MC frame_twists",
+          "dimensions": 24,
+          "indices": [
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55
+          ]
+        },
+        "state/end/wrench": {
+          "description": "左右手臂末端六维力/力矩，fx/fy/fz/mx/my/mz，size of 12",
+          "dimensions": 24,
+          "indices": [
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25
+          ]
+        },
+        "state/head/position": {
+          "description": "头部关节角度（弧度），[joint_head_yaw, joint_head_pitch]，size of 2",
+          "dimensions": 3,
+          "indices": [
+            120,
+            121,
+            122
+          ]
+        },
+        "state/joint/current_value": {
+          "description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/joint/effort": {
+          "description": "左右臂关节力矩（Nm），来自 motor_states[:].effort",
+          "dimensions": 14,
+          "indices": [
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105
+          ]
+        },
+        "state/joint/position": {
+          "description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
+          "dimensions": 14,
+          "indices": [
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91
+          ]
+        },
+        "state/joint/velocity": {
+          "description": "左右臂关节速度（弧度/秒），来自 motor_states[:].velocity",
+          "dimensions": 14,
+          "indices": [
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119
+          ]
+        },
+        "state/left_ee_force/cols": {
+          "description": "左手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/contact": {
+          "description": "左手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/controlled": {
+          "description": "左手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/err_code": {
+          "description": "左手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/normal_force": {
+          "description": "左手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_x": {
+          "description": "左手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_y": {
+          "description": "左手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/rows": {
+          "description": "左手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_x": {
+          "description": "左手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_y": {
+          "description": "左手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/valid": {
+          "description": "左手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_effector/position": {
+          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "state/left_vr_button/axis_click": {
+          "description": "左手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_x": {
+          "description": "左手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_y": {
+          "description": "左手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/hand_trig": {
+          "description": "左手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/index_trig": {
+          "description": "左手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_one": {
+          "description": "左手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_two": {
+          "description": "左手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/operator_event/action_src_status": {
+          "description": "动作来源状态：0=IDLE/BACKWARD/MODEL，1=TAKEOVER（遥操）",
+          "dimensions": 1,
+          "indices": [
+            135
+          ]
+        },
+        "state/right_ee_force/cols": {
+          "description": "右手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/contact": {
+          "description": "右手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/controlled": {
+          "description": "右手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/err_code": {
+          "description": "右手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/normal_force": {
+          "description": "右手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_x": {
+          "description": "右手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_y": {
+          "description": "右手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/rows": {
+          "description": "右手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_x": {
+          "description": "右手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_y": {
+          "description": "右手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/valid": {
+          "description": "右手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_effector/position": {
+          "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "state/right_vr_button/axis_click": {
+          "description": "右手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_x": {
+          "description": "右手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_y": {
+          "description": "右手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/hand_trig": {
+          "description": "右手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/index_trig": {
+          "description": "右手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_one": {
+          "description": "右手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_two": {
+          "description": "右手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/robot/orientation": {
+          "description": "机体姿态，odom 坐标系，四元数，size of 4",
+          "dimensions": 4,
+          "indices": [
+            131,
+            132,
+            133,
+            134
+          ]
+        },
+        "state/robot/position": {
+          "description": "机体位置，odom 坐标系，size of 3（x, y, z，单位 m）",
+          "dimensions": 3,
+          "indices": [
+            128,
+            129,
+            130
+          ]
+        },
+        "state/waist/position": {
+          "description": "腰部关节角度（弧度），[joint_lift_body, joint_body_pitch]，size of 2",
+          "dimensions": 5,
+          "indices": [
+            123,
+            124,
+            125,
+            126,
+            127
+          ]
+        }
+      },
+      "shape": [
+        208
+      ]
+    }
+  },
+  "observations": {
+    "hand_left": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    },
+    "hand_right": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    },
+    "top_head": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    }
+  },
+  "schema_version": "acwmbench.inference.v1",
+  "timeline": {
+    "fps": 30.0,
+    "frame_index": {
+      "dtype": "int64",
+      "origin": 0,
+      "step": 1
+    },
+    "timestamp": {
+      "definition": "frame_index / fps",
+      "dtype": "float32"
+    }
+  }
+}
diff --git a/inputs/agibot/hangtowel/task.json b/inputs/agibot/hangtowel/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..53bcb8ef179edc6058cc29e97255b5642f83e5e1
--- /dev/null
+++ b/inputs/agibot/hangtowel/task.json
@@ -0,0 +1,743 @@
+{
+  "episodes": [
+    "ep000000",
+    "ep000002",
+    "ep000005",
+    "ep000006",
+    "ep000007",
+    "ep000009",
+    "ep000012",
+    "ep000014",
+    "ep000018",
+    "ep000019",
+    "ep000020",
+    "ep000023",
+    "ep000024",
+    "ep000026",
+    "ep000028",
+    "ep000029",
+    "ep000030",
+    "ep000031",
+    "ep000032",
+    "ep000034",
+    "ep000038",
+    "ep000040",
+    "ep000041",
+    "ep000043",
+    "ep000044"
+  ],
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "field_descriptions": {
+        "action/end/orientation": {
+          "description": "左右手臂末端期望姿态（XYZ+臂形角），shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15
+          ]
+        },
+        "action/end/position": {
+          "description": "左右手臂末端期望位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            2,
+            3,
+            4,
+            5,
+            6,
+            7
+          ]
+        },
+        "action/head/position": {
+          "description": "头部关节期望角度（弧度），[joint_head_yaw, joint_head_pitch]",
+          "dimensions": 3,
+          "indices": [
+            30,
+            31,
+            32
+          ]
+        },
+        "action/joint/position": {
+          "description": "左右臂关节期望角度（弧度），来自 retarget 或 state 补帧",
+          "dimensions": 14,
+          "indices": [
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29
+          ]
+        },
+        "action/left_effector/position": {
+          "description": "左执行器期望行程值/关节角度，夹爪需归一化处理",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "action/left_refpose/orientation": {
+          "description": "左臂参考姿态",
+          "dimensions": 4,
+          "indices": [
+            44,
+            45,
+            46,
+            47
+          ]
+        },
+        "action/right_effector/position": {
+          "description": "右执行器期望行程值/关节角度，夹爪需归一化处理",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "action/right_refpose/orientation": {
+          "description": "右臂参考姿态",
+          "dimensions": 4,
+          "indices": [
+            48,
+            49,
+            50,
+            51
+          ]
+        },
+        "action/robot/velocity": {
+          "description": "底盘期望速度，odom 坐标系，[线速度, 角速度]，size of 2",
+          "dimensions": 6,
+          "indices": [
+            38,
+            39,
+            40,
+            41,
+            42,
+            43
+          ]
+        },
+        "action/waist/position": {
+          "description": "腰部关节期望角度（弧度），[joint_lift_body, joint_body_pitch]",
+          "dimensions": 5,
+          "indices": [
+            33,
+            34,
+            35,
+            36,
+            37
+          ]
+        }
+      },
+      "shape": [
+        52
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "field_descriptions": {
+        "extrinsic_end_T_hand_left_rgbd_aligned/rotation_matrix": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144
+          ]
+        },
+        "extrinsic_end_T_hand_left_rgbd_aligned/translation_vector": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            190,
+            191,
+            192
+          ]
+        },
+        "extrinsic_end_T_hand_right_rgbd_aligned/rotation_matrix": {
+          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153
+          ]
+        },
+        "extrinsic_end_T_hand_right_rgbd_aligned/translation_vector": {
+          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            193,
+            194,
+            195
+          ]
+        },
+        "extrinsic_end_T_head_back_fisheye_aligned/rotation_matrix": {
+          "description": "头部后鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189
+          ]
+        },
+        "extrinsic_end_T_head_back_fisheye_aligned/translation_vector": {
+          "description": "头部后鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            205,
+            206,
+            207
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/rotation_matrix": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/translation_vector": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            202,
+            203,
+            204
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/rotation_matrix": {
+          "description": "头部左鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/translation_vector": {
+          "description": "头部左鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            196,
+            197,
+            198
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/rotation_matrix": {
+          "description": "头部右鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/translation_vector": {
+          "description": "头部右鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            199,
+            200,
+            201
+          ]
+        },
+        "state/end/arm_orientation": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的姿态（RPY 弧度或四元数）",
+          "dimensions": 8,
+          "indices": [
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71
+          ]
+        },
+        "state/end/arm_position": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            72,
+            73,
+            74,
+            75,
+            76,
+            77
+          ]
+        },
+        "state/end/orientation": {
+          "description": "左右手臂末端姿态，四元数 XYZW，shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63
+          ]
+        },
+        "state/end/position": {
+          "description": "左右手臂末端位置（m），shape (2,3)，基于末端关节 FK 计算",
+          "dimensions": 6,
+          "indices": [
+            26,
+            27,
+            28,
+            29,
+            30,
+            31
+          ]
+        },
+        "state/end/velocity": {
+          "description": "左右手臂末端线速度（m/s），来自 MC frame_twists",
+          "dimensions": 24,
+          "indices": [
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55
+          ]
+        },
+        "state/end/wrench": {
+          "description": "左右手臂末端六维力/力矩，fx/fy/fz/mx/my/mz，size of 12",
+          "dimensions": 24,
+          "indices": [
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25
+          ]
+        },
+        "state/head/position": {
+          "description": "头部关节角度（弧度），[joint_head_yaw, joint_head_pitch]，size of 2",
+          "dimensions": 3,
+          "indices": [
+            120,
+            121,
+            122
+          ]
+        },
+        "state/joint/current_value": {
+          "description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/joint/effort": {
+          "description": "左右臂关节力矩（Nm），来自 motor_states[:].effort",
+          "dimensions": 14,
+          "indices": [
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105
+          ]
+        },
+        "state/joint/position": {
+          "description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
+          "dimensions": 14,
+          "indices": [
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91
+          ]
+        },
+        "state/joint/velocity": {
+          "description": "左右臂关节速度（弧度/秒），来自 motor_states[:].velocity",
+          "dimensions": 14,
+          "indices": [
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119
+          ]
+        },
+        "state/left_ee_force/cols": {
+          "description": "左手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/contact": {
+          "description": "左手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/controlled": {
+          "description": "左手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/err_code": {
+          "description": "左手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/normal_force": {
+          "description": "左手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_x": {
+          "description": "左手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_y": {
+          "description": "左手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/rows": {
+          "description": "左手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_x": {
+          "description": "左手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_y": {
+          "description": "左手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/valid": {
+          "description": "左手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_effector/position": {
+          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "state/left_vr_button/axis_click": {
+          "description": "左手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_x": {
+          "description": "左手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_y": {
+          "description": "左手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/hand_trig": {
+          "description": "左手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/index_trig": {
+          "description": "左手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_one": {
+          "description": "左手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_two": {
+          "description": "左手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/operator_event/action_src_status": {
+          "description": "动作来源状态：0=IDLE/BACKWARD/MODEL，1=TAKEOVER（遥操）",
+          "dimensions": 1,
+          "indices": [
+            135
+          ]
+        },
+        "state/right_ee_force/cols": {
+          "description": "右手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/contact": {
+          "description": "右手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/controlled": {
+          "description": "右手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/err_code": {
+          "description": "右手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/normal_force": {
+          "description": "右手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_x": {
+          "description": "右手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_y": {
+          "description": "右手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/rows": {
+          "description": "右手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_x": {
+          "description": "右手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_y": {
+          "description": "右手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/valid": {
+          "description": "右手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_effector/position": {
+          "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "state/right_vr_button/axis_click": {
+          "description": "右手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_x": {
+          "description": "右手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_y": {
+          "description": "右手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/hand_trig": {
+          "description": "右手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/index_trig": {
+          "description": "右手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_one": {
+          "description": "右手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_two": {
+          "description": "右手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/robot/orientation": {
+          "description": "机体姿态，odom 坐标系，四元数，size of 4",
+          "dimensions": 4,
+          "indices": [
+            131,
+            132,
+            133,
+            134
+          ]
+        },
+        "state/robot/position": {
+          "description": "机体位置，odom 坐标系，size of 3（x, y, z，单位 m）",
+          "dimensions": 3,
+          "indices": [
+            128,
+            129,
+            130
+          ]
+        },
+        "state/waist/position": {
+          "description": "腰部关节角度（弧度），[joint_lift_body, joint_body_pitch]，size of 2",
+          "dimensions": 5,
+          "indices": [
+            123,
+            124,
+            125,
+            126,
+            127
+          ]
+        }
+      },
+      "shape": [
+        208
+      ]
+    },
+    "observations": {
+      "hand_left": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      },
+      "hand_right": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      },
+      "top_head": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      }
+    }
+  },
+  "fps": 30.0,
+  "schema_version": "acwmbench.inference.v1",
+  "task": "hangtowel"
+}
diff --git a/inputs/agibot/pickfruit/ep000014/calibration.json b/inputs/agibot/pickfruit/ep000014/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..764cc79955e4b8828b95bb8f3a56dfb97bef6cc6
--- /dev/null
+++ b/inputs/agibot/pickfruit/ep000014/calibration.json
@@ -0,0 +1,138 @@
+{
+  "cameras": {
+    "hand_left": {
+      "intrinsics": {
+        "Cx": 322.45109161542433,
+        "Cy": 264.59323760472944,
+        "Fx": 239.16597545872747,
+        "Fy": 239.18125843059562,
+        "SN": "FD6171140000c2af",
+        "k1": -0.0477441999255566,
+        "k2": -0.01025078205710165,
+        "k3": 0.001978136641965781,
+        "p1": 0.000417694731476042,
+        "p2": -0.00011052861896111814
+      },
+      "resolution": {
+        "height": "1056",
+        "width": "1280"
+      },
+      "transforms": [
+        {
+          "matrix": {
+            "calib_mode": "offline",
+            "rotation": {
+              "w": 0.6840394277009466,
+              "x": -0.1853413858942329,
+              "y": -0.18995433903720277,
+              "z": 0.6794527070417088
+            },
+            "sensor_model": "new_90d",
+            "translation": {
+              "x": 0.0755372854410307,
+              "y": 0.00035538911569674814,
+              "z": 0.09651973270778826
+            }
+          },
+          "name": "transform_00"
+        }
+      ]
+    },
+    "hand_right": {
+      "intrinsics": {
+        "Cx": 321.52291404800764,
+        "Cy": 261.8104047004096,
+        "Fx": 241.82197135915698,
+        "Fy": 241.69708847284528,
+        "SN": "FD6171140000a1b0",
+        "k1": -0.05279912864219897,
+        "k2": -0.0078431526181297,
+        "k3": 0.0015627053660951086,
+        "p1": 0.00014388393001530753,
+        "p2": -0.00022380142219094036
+      },
+      "resolution": {
+        "height": "1056",
+        "width": "1280"
+      },
+      "transforms": [
+        {
+          "matrix": {
+            "calib_mode": "offline",
+            "rotation": {
+              "w": 0.6867476540167705,
+              "x": -0.17600551575897108,
+              "y": -0.18614004244877447,
+              "z": 0.680258482285998
+            },
+            "sensor_model": "new_90d",
+            "translation": {
+              "x": 0.08443018426400603,
+              "y": 0.0011225049947597044,
+              "z": 0.08988668812155585
+            }
+          },
+          "name": "transform_00"
+        }
+      ]
+    },
+    "top_head": {
+      "intrinsics": {
+        "Cx": 320.0936584473,
+        "Cy": 198.4500732422,
+        "Fx": 304.5960998535,
+        "Fy": 304.6416320801,
+        "SN": "CPBCC5300116",
+        "k1": -0.028612677,
+        "k2": 0.0353668667,
+        "k3": -0.0130725903,
+        "p1": 6.95347e-05,
+        "p2": -0.0003198342
+      },
+      "resolution": {
+        "height": "400",
+        "width": "640"
+      },
+      "transforms": [
+        {
+          "matrix": {
+            "calib_mode": "offline",
+            "rotation": {
+              "w": 0.3764266381156266,
+              "x": -0.5978100443257126,
+              "y": 0.595823098277717,
+              "z": -0.3819960373865136
+            },
+            "sensor_model": "head_front_rgbd_mani",
+            "translation": {
+              "x": 0.09909607036720197,
+              "y": 0.026395529273949236,
+              "z": 0.0969230579136311
+            }
+          },
+          "name": "transform_00"
+        },
+        {
+          "matrix": {
+            "calib_mode": "offline",
+            "rotation": {
+              "w": 0.37607865240867777,
+              "x": -0.5941698014254397,
+              "y": 0.5985174409638526,
+              "z": -0.38380198949276906
+            },
+            "sensor_model": "head_front_rgbd_nav",
+            "translation": {
+              "x": 0.1037401112296168,
+              "y": 0.02264676772681395,
+              "z": 0.095961931623471
+            }
+          },
+          "name": "transform_01"
+        }
+      ]
+    }
+  },
+  "coordinate_convention": "Matrices retain the robot calibration convention.",
+  "schema_version": "acwmbench.inference.v1"
+}
diff --git a/inputs/agibot/pickfruit/ep000014/metadata.json b/inputs/agibot/pickfruit/ep000014/metadata.json
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+          "description": "左右手臂末端位置（m），shape (2,3)，基于末端关节 FK 计算",
+          "dimensions": 6,
+          "indices": [
+            26,
+            27,
+            28,
+            29,
+            30,
+            31
+          ]
+        },
+        "state/end/velocity": {
+          "description": "左右手臂末端线速度（m/s），来自 MC frame_twists",
+          "dimensions": 24,
+          "indices": [
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55
+          ]
+        },
+        "state/end/wrench": {
+          "description": "左右手臂末端六维力/力矩，fx/fy/fz/mx/my/mz，size of 12",
+          "dimensions": 24,
+          "indices": [
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25
+          ]
+        },
+        "state/head/position": {
+          "description": "头部关节角度（弧度），[joint_head_yaw, joint_head_pitch]，size of 2",
+          "dimensions": 3,
+          "indices": [
+            120,
+            121,
+            122
+          ]
+        },
+        "state/joint/current_value": {
+          "description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/joint/effort": {
+          "description": "左右臂关节力矩（Nm），来自 motor_states[:].effort",
+          "dimensions": 14,
+          "indices": [
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105
+          ]
+        },
+        "state/joint/position": {
+          "description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
+          "dimensions": 14,
+          "indices": [
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91
+          ]
+        },
+        "state/joint/velocity": {
+          "description": "左右臂关节速度（弧度/秒），来自 motor_states[:].velocity",
+          "dimensions": 14,
+          "indices": [
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119
+          ]
+        },
+        "state/left_ee_force/cols": {
+          "description": "左手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/contact": {
+          "description": "左手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/controlled": {
+          "description": "左手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/err_code": {
+          "description": "左手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/normal_force": {
+          "description": "左手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_x": {
+          "description": "左手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_y": {
+          "description": "左手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/rows": {
+          "description": "左手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_x": {
+          "description": "左手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_y": {
+          "description": "左手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/valid": {
+          "description": "左手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_effector/position": {
+          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "state/left_vr_button/axis_click": {
+          "description": "左手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_x": {
+          "description": "左手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_y": {
+          "description": "左手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/hand_trig": {
+          "description": "左手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/index_trig": {
+          "description": "左手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_one": {
+          "description": "左手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_two": {
+          "description": "左手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/operator_event/action_src_status": {
+          "description": "动作来源状态：0=IDLE/BACKWARD/MODEL，1=TAKEOVER（遥操）",
+          "dimensions": 1,
+          "indices": [
+            135
+          ]
+        },
+        "state/right_ee_force/cols": {
+          "description": "右手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/contact": {
+          "description": "右手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/controlled": {
+          "description": "右手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/err_code": {
+          "description": "右手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/normal_force": {
+          "description": "右手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_x": {
+          "description": "右手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_y": {
+          "description": "右手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/rows": {
+          "description": "右手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_x": {
+          "description": "右手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_y": {
+          "description": "右手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/valid": {
+          "description": "右手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_effector/position": {
+          "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "state/right_vr_button/axis_click": {
+          "description": "右手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_x": {
+          "description": "右手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_y": {
+          "description": "右手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/hand_trig": {
+          "description": "右手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/index_trig": {
+          "description": "右手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_one": {
+          "description": "右手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_two": {
+          "description": "右手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/robot/orientation": {
+          "description": "机体姿态，odom 坐标系，四元数，size of 4",
+          "dimensions": 4,
+          "indices": [
+            131,
+            132,
+            133,
+            134
+          ]
+        },
+        "state/robot/position": {
+          "description": "机体位置，odom 坐标系，size of 3（x, y, z，单位 m）",
+          "dimensions": 3,
+          "indices": [
+            128,
+            129,
+            130
+          ]
+        },
+        "state/waist/position": {
+          "description": "腰部关节角度（弧度），[joint_lift_body, joint_body_pitch]，size of 2",
+          "dimensions": 5,
+          "indices": [
+            123,
+            124,
+            125,
+            126,
+            127
+          ]
+        }
+      },
+      "shape": [
+        208
+      ]
+    }
+  },
+  "observations": {
+    "hand_left": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    },
+    "hand_right": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    },
+    "top_head": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    }
+  },
+  "schema_version": "acwmbench.inference.v1",
+  "timeline": {
+    "fps": 30.0,
+    "frame_index": {
+      "dtype": "int64",
+      "origin": 0,
+      "step": 1
+    },
+    "timestamp": {
+      "definition": "frame_index / fps",
+      "dtype": "float32"
+    }
+  }
+}
diff --git a/inputs/agibot/pickfruit/task.json b/inputs/agibot/pickfruit/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b0b17e5408ea92649db41ab25e2634cfee9d714
--- /dev/null
+++ b/inputs/agibot/pickfruit/task.json
@@ -0,0 +1,743 @@
+{
+  "episodes": [
+    "ep000000",
+    "ep000004",
+    "ep000012",
+    "ep000014",
+    "ep000016",
+    "ep000019",
+    "ep000022",
+    "ep000023",
+    "ep000024",
+    "ep000028",
+    "ep000030",
+    "ep000033",
+    "ep000035",
+    "ep000039",
+    "ep000040",
+    "ep000041",
+    "ep000046",
+    "ep000052",
+    "ep000054",
+    "ep000056",
+    "ep000060",
+    "ep000061",
+    "ep000062",
+    "ep000064",
+    "ep000067"
+  ],
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "field_descriptions": {
+        "action/end/orientation": {
+          "description": "左右手臂末端期望姿态（XYZ+臂形角），shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15
+          ]
+        },
+        "action/end/position": {
+          "description": "左右手臂末端期望位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            2,
+            3,
+            4,
+            5,
+            6,
+            7
+          ]
+        },
+        "action/head/position": {
+          "description": "头部关节期望角度（弧度），[joint_head_yaw, joint_head_pitch]",
+          "dimensions": 3,
+          "indices": [
+            30,
+            31,
+            32
+          ]
+        },
+        "action/joint/position": {
+          "description": "左右臂关节期望角度（弧度），来自 retarget 或 state 补帧",
+          "dimensions": 14,
+          "indices": [
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29
+          ]
+        },
+        "action/left_effector/position": {
+          "description": "左执行器期望行程值/关节角度，夹爪需归一化处理",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "action/left_refpose/orientation": {
+          "description": "左臂参考姿态",
+          "dimensions": 4,
+          "indices": [
+            44,
+            45,
+            46,
+            47
+          ]
+        },
+        "action/right_effector/position": {
+          "description": "右执行器期望行程值/关节角度，夹爪需归一化处理",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "action/right_refpose/orientation": {
+          "description": "右臂参考姿态",
+          "dimensions": 4,
+          "indices": [
+            48,
+            49,
+            50,
+            51
+          ]
+        },
+        "action/robot/velocity": {
+          "description": "底盘期望速度，odom 坐标系，[线速度, 角速度]，size of 2",
+          "dimensions": 6,
+          "indices": [
+            38,
+            39,
+            40,
+            41,
+            42,
+            43
+          ]
+        },
+        "action/waist/position": {
+          "description": "腰部关节期望角度（弧度），[joint_lift_body, joint_body_pitch]",
+          "dimensions": 5,
+          "indices": [
+            33,
+            34,
+            35,
+            36,
+            37
+          ]
+        }
+      },
+      "shape": [
+        52
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "field_descriptions": {
+        "extrinsic_end_T_hand_left_rgbd_aligned/rotation_matrix": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144
+          ]
+        },
+        "extrinsic_end_T_hand_left_rgbd_aligned/translation_vector": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            190,
+            191,
+            192
+          ]
+        },
+        "extrinsic_end_T_hand_right_rgbd_aligned/rotation_matrix": {
+          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153
+          ]
+        },
+        "extrinsic_end_T_hand_right_rgbd_aligned/translation_vector": {
+          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            193,
+            194,
+            195
+          ]
+        },
+        "extrinsic_end_T_head_back_fisheye_aligned/rotation_matrix": {
+          "description": "头部后鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189
+          ]
+        },
+        "extrinsic_end_T_head_back_fisheye_aligned/translation_vector": {
+          "description": "头部后鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            205,
+            206,
+            207
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/rotation_matrix": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/translation_vector": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            202,
+            203,
+            204
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/rotation_matrix": {
+          "description": "头部左鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/translation_vector": {
+          "description": "头部左鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            196,
+            197,
+            198
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/rotation_matrix": {
+          "description": "头部右鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/translation_vector": {
+          "description": "头部右鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            199,
+            200,
+            201
+          ]
+        },
+        "state/end/arm_orientation": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的姿态（RPY 弧度或四元数）",
+          "dimensions": 8,
+          "indices": [
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71
+          ]
+        },
+        "state/end/arm_position": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            72,
+            73,
+            74,
+            75,
+            76,
+            77
+          ]
+        },
+        "state/end/orientation": {
+          "description": "左右手臂末端姿态，四元数 XYZW，shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63
+          ]
+        },
+        "state/end/position": {
+          "description": "左右手臂末端位置（m），shape (2,3)，基于末端关节 FK 计算",
+          "dimensions": 6,
+          "indices": [
+            26,
+            27,
+            28,
+            29,
+            30,
+            31
+          ]
+        },
+        "state/end/velocity": {
+          "description": "左右手臂末端线速度（m/s），来自 MC frame_twists",
+          "dimensions": 24,
+          "indices": [
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
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+            41,
+            42,
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+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55
+          ]
+        },
+        "state/end/wrench": {
+          "description": "左右手臂末端六维力/力矩，fx/fy/fz/mx/my/mz，size of 12",
+          "dimensions": 24,
+          "indices": [
+            2,
+            3,
+            4,
+            5,
+            6,
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+            11,
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+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25
+          ]
+        },
+        "state/head/position": {
+          "description": "头部关节角度（弧度），[joint_head_yaw, joint_head_pitch]，size of 2",
+          "dimensions": 3,
+          "indices": [
+            120,
+            121,
+            122
+          ]
+        },
+        "state/joint/current_value": {
+          "description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/joint/effort": {
+          "description": "左右臂关节力矩（Nm），来自 motor_states[:].effort",
+          "dimensions": 14,
+          "indices": [
+            92,
+            93,
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+            100,
+            101,
+            102,
+            103,
+            104,
+            105
+          ]
+        },
+        "state/joint/position": {
+          "description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
+          "dimensions": 14,
+          "indices": [
+            78,
+            79,
+            80,
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+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91
+          ]
+        },
+        "state/joint/velocity": {
+          "description": "左右臂关节速度（弧度/秒），来自 motor_states[:].velocity",
+          "dimensions": 14,
+          "indices": [
+            106,
+            107,
+            108,
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+            114,
+            115,
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+            117,
+            118,
+            119
+          ]
+        },
+        "state/left_ee_force/cols": {
+          "description": "左手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/contact": {
+          "description": "左手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/controlled": {
+          "description": "左手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/err_code": {
+          "description": "左手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/normal_force": {
+          "description": "左手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_x": {
+          "description": "左手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_y": {
+          "description": "左手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/rows": {
+          "description": "左手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_x": {
+          "description": "左手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_y": {
+          "description": "左手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/valid": {
+          "description": "左手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_effector/position": {
+          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "state/left_vr_button/axis_click": {
+          "description": "左手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_x": {
+          "description": "左手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_y": {
+          "description": "左手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/hand_trig": {
+          "description": "左手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/index_trig": {
+          "description": "左手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_one": {
+          "description": "左手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_two": {
+          "description": "左手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/operator_event/action_src_status": {
+          "description": "动作来源状态：0=IDLE/BACKWARD/MODEL，1=TAKEOVER（遥操）",
+          "dimensions": 1,
+          "indices": [
+            135
+          ]
+        },
+        "state/right_ee_force/cols": {
+          "description": "右手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/contact": {
+          "description": "右手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/controlled": {
+          "description": "右手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/err_code": {
+          "description": "右手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/normal_force": {
+          "description": "右手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_x": {
+          "description": "右手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_y": {
+          "description": "右手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/rows": {
+          "description": "右手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_x": {
+          "description": "右手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_y": {
+          "description": "右手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/valid": {
+          "description": "右手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_effector/position": {
+          "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "state/right_vr_button/axis_click": {
+          "description": "右手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_x": {
+          "description": "右手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_y": {
+          "description": "右手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/hand_trig": {
+          "description": "右手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/index_trig": {
+          "description": "右手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_one": {
+          "description": "右手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_two": {
+          "description": "右手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/robot/orientation": {
+          "description": "机体姿态，odom 坐标系，四元数，size of 4",
+          "dimensions": 4,
+          "indices": [
+            131,
+            132,
+            133,
+            134
+          ]
+        },
+        "state/robot/position": {
+          "description": "机体位置，odom 坐标系，size of 3（x, y, z，单位 m）",
+          "dimensions": 3,
+          "indices": [
+            128,
+            129,
+            130
+          ]
+        },
+        "state/waist/position": {
+          "description": "腰部关节角度（弧度），[joint_lift_body, joint_body_pitch]，size of 2",
+          "dimensions": 5,
+          "indices": [
+            123,
+            124,
+            125,
+            126,
+            127
+          ]
+        }
+      },
+      "shape": [
+        208
+      ]
+    },
+    "observations": {
+      "hand_left": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      },
+      "hand_right": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      },
+      "top_head": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      }
+    }
+  },
+  "fps": 30.0,
+  "schema_version": "acwmbench.inference.v1",
+  "task": "pickfruit"
+}
diff --git a/inputs/agibot/pourwater/ep000005/calibration.json b/inputs/agibot/pourwater/ep000005/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..47441eb70816e873453a6ad12881f24f87ff0f6a
--- /dev/null
+++ b/inputs/agibot/pourwater/ep000005/calibration.json
@@ -0,0 +1,138 @@
+{
+  "cameras": {
+    "hand_left": {
+      "intrinsics": {
+        "Cx": 323.4766330548559,
+        "Cy": 264.01834612133405,
+        "Fx": 239.42560437641046,
+        "Fy": 239.32060964068458,
+        "SN": "FD61511400004159",
+        "k1": -0.051729129185540554,
+        "k2": -0.007398075159784904,
+        "k3": 0.0014376026126488965,
+        "p1": 0.0001969672382969989,
+        "p2": 0.00035120078102524407
+      },
+      "resolution": {
+        "height": "1056",
+        "width": "1280"
+      },
+      "transforms": [
+        {
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+            "rotation": {
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+              "x": -0.17688784914840316,
+              "y": -0.18523087081582823,
+              "z": 0.6767004191723842
+            },
+            "sensor_model": "new_90d",
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+              "x": 0.07902764238245283,
+              "y": -0.0021406294440349167,
+              "z": 0.09105603773093889
+            }
+          },
+          "name": "transform_00"
+        }
+      ]
+    },
+    "hand_right": {
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+        "Cy": 263.38869854909586,
+        "Fx": 241.0085188007988,
+        "Fy": 240.81253833886424,
+        "SN": "FD6151140000981e",
+        "k1": -0.05221721015716729,
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+        "k3": 0.001523161626678953,
+        "p1": -0.0001618785123645326,
+        "p2": 1.0115924651435428e-05
+      },
+      "resolution": {
+        "height": "1056",
+        "width": "1280"
+      },
+      "transforms": [
+        {
+          "matrix": {
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+            "rotation": {
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+              "x": -0.18245468789463648,
+              "y": -0.178917833080293,
+              "z": 0.6753017018205003
+            },
+            "sensor_model": "new_90d",
+            "translation": {
+              "x": 0.08537232723294133,
+              "y": 0.0024552744930662813,
+              "z": 0.08932185463056395
+            }
+          },
+          "name": "transform_00"
+        }
+      ]
+    },
+    "top_head": {
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+        "Cy": 200.4142913818,
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+        "SN": "CPBCC53000G8",
+        "k1": -0.0311243329,
+        "k2": 0.0350729749,
+        "k3": -0.0122287897,
+        "p1": -0.0001950668,
+        "p2": 0.0002883782
+      },
+      "resolution": {
+        "height": "400",
+        "width": "640"
+      },
+      "transforms": [
+        {
+          "matrix": {
+            "calib_mode": "offline",
+            "rotation": {
+              "w": 0.37212039824097654,
+              "x": -0.603230929292477,
+              "y": 0.594035239277349,
+              "z": -0.38047468990014865
+            },
+            "sensor_model": "head_front_rgbd_mani",
+            "translation": {
+              "x": 0.1011541781154085,
+              "y": 0.016578101091934264,
+              "z": 0.10527691492384705
+            }
+          },
+          "name": "transform_00"
+        },
+        {
+          "matrix": {
+            "calib_mode": "offline",
+            "rotation": {
+              "w": 0.3727248591554071,
+              "x": -0.5968941743864329,
+              "y": 0.5975976067298112,
+              "z": -0.3842793572154543
+            },
+            "sensor_model": "head_front_rgbd_nav",
+            "translation": {
+              "x": 0.09685802402843424,
+              "y": 0.03119863640193279,
+              "z": 0.11098571428319381
+            }
+          },
+          "name": "transform_01"
+        }
+      ]
+    }
+  },
+  "coordinate_convention": "Matrices retain the robot calibration convention.",
+  "schema_version": "acwmbench.inference.v1"
+}
diff --git a/inputs/agibot/pourwater/ep000005/metadata.json b/inputs/agibot/pourwater/ep000005/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9660094ab962a83d097f37acf57f71c4d8bcf7f
--- /dev/null
+++ b/inputs/agibot/pourwater/ep000005/metadata.json
@@ -0,0 +1,19 @@
+{
+  "episode_index": 5,
+  "episode_name": "ep000005",
+  "files": {
+    "calibration": "calibration.json",
+    "observations": {
+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "top_head": "observations/top_head.png"
+    },
+    "trajectory": "trajectory.parquet"
+  },
+  "fps": 30.0,
+  "num_frames": 3569,
+  "num_transitions": 3568,
+  "schema_version": "acwmbench.inference.v1",
+  "seed_local_index": 0,
+  "task_name": "pourwater"
+}
diff --git a/inputs/agibot/pourwater/ep000005/observations/hand_left.png b/inputs/agibot/pourwater/ep000005/observations/hand_left.png
new file mode 100644
index 0000000000000000000000000000000000000000..37fe9c41198910b9a17c477a9f7d3e6dd5f7dac0
--- /dev/null
+++ b/inputs/agibot/pourwater/ep000005/observations/hand_left.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f583470e2a39ea606a175740447340911d156f39f52d954ab3c80c250094e3cb
+size 291257
diff --git a/inputs/agibot/pourwater/ep000005/observations/hand_right.png b/inputs/agibot/pourwater/ep000005/observations/hand_right.png
new file mode 100644
index 0000000000000000000000000000000000000000..c45856a526ef886d3661e24eed66d5b5c2fe06bc
--- /dev/null
+++ b/inputs/agibot/pourwater/ep000005/observations/hand_right.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d0ef39aa1e9a44837a8e16d8ce2abe97d3a0b6c3f121b84b47704761a19d6a0
+size 274473
diff --git a/inputs/agibot/pourwater/ep000005/observations/top_head.png b/inputs/agibot/pourwater/ep000005/observations/top_head.png
new file mode 100644
index 0000000000000000000000000000000000000000..f0cc6a42614689933d68c0c5fb556465429670d6
--- /dev/null
+++ b/inputs/agibot/pourwater/ep000005/observations/top_head.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b17d600b351408dd4bed8411d96b46e642fa23836671087cb1bc0bfb343c3b67
+size 223845
diff --git a/inputs/agibot/pourwater/ep000005/trajectory.parquet b/inputs/agibot/pourwater/ep000005/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9c84e66c9babeb1e847c814effa48873b13156c6
--- /dev/null
+++ b/inputs/agibot/pourwater/ep000005/trajectory.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d59c6187b16f4ec5bff192fe6aa4015045c045c4a1ea2f53dc2776dfa73bf479
+size 2118555
diff --git a/inputs/agibot/pourwater/ep000020/calibration.json b/inputs/agibot/pourwater/ep000020/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..47441eb70816e873453a6ad12881f24f87ff0f6a
--- /dev/null
+++ b/inputs/agibot/pourwater/ep000020/calibration.json
@@ -0,0 +1,138 @@
+{
+  "cameras": {
+    "hand_left": {
+      "intrinsics": {
+        "Cx": 323.4766330548559,
+        "Cy": 264.01834612133405,
+        "Fx": 239.42560437641046,
+        "Fy": 239.32060964068458,
+        "SN": "FD61511400004159",
+        "k1": -0.051729129185540554,
+        "k2": -0.007398075159784904,
+        "k3": 0.0014376026126488965,
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+          "description": "左手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/contact": {
+          "description": "左手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/controlled": {
+          "description": "左手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/err_code": {
+          "description": "左手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/normal_force": {
+          "description": "左手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_x": {
+          "description": "左手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_y": {
+          "description": "左手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/rows": {
+          "description": "左手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_x": {
+          "description": "左手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_y": {
+          "description": "左手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/valid": {
+          "description": "左手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_effector/position": {
+          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "state/left_vr_button/axis_click": {
+          "description": "左手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_x": {
+          "description": "左手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_y": {
+          "description": "左手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/hand_trig": {
+          "description": "左手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/index_trig": {
+          "description": "左手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_one": {
+          "description": "左手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_two": {
+          "description": "左手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/operator_event/action_src_status": {
+          "description": "动作来源状态：0=IDLE/BACKWARD/MODEL，1=TAKEOVER（遥操）",
+          "dimensions": 1,
+          "indices": [
+            135
+          ]
+        },
+        "state/right_ee_force/cols": {
+          "description": "右手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/contact": {
+          "description": "右手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/controlled": {
+          "description": "右手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/err_code": {
+          "description": "右手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/normal_force": {
+          "description": "右手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_x": {
+          "description": "右手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_y": {
+          "description": "右手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/rows": {
+          "description": "右手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_x": {
+          "description": "右手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_y": {
+          "description": "右手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/valid": {
+          "description": "右手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_effector/position": {
+          "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "state/right_vr_button/axis_click": {
+          "description": "右手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_x": {
+          "description": "右手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_y": {
+          "description": "右手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/hand_trig": {
+          "description": "右手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/index_trig": {
+          "description": "右手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_one": {
+          "description": "右手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_two": {
+          "description": "右手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/robot/orientation": {
+          "description": "机体姿态，odom 坐标系，四元数，size of 4",
+          "dimensions": 4,
+          "indices": [
+            131,
+            132,
+            133,
+            134
+          ]
+        },
+        "state/robot/position": {
+          "description": "机体位置，odom 坐标系，size of 3（x, y, z，单位 m）",
+          "dimensions": 3,
+          "indices": [
+            128,
+            129,
+            130
+          ]
+        },
+        "state/waist/position": {
+          "description": "腰部关节角度（弧度），[joint_lift_body, joint_body_pitch]，size of 2",
+          "dimensions": 5,
+          "indices": [
+            123,
+            124,
+            125,
+            126,
+            127
+          ]
+        }
+      },
+      "shape": [
+        208
+      ]
+    }
+  },
+  "observations": {
+    "hand_left": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    },
+    "hand_right": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    },
+    "top_head": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    }
+  },
+  "schema_version": "acwmbench.inference.v1",
+  "timeline": {
+    "fps": 30.0,
+    "frame_index": {
+      "dtype": "int64",
+      "origin": 0,
+      "step": 1
+    },
+    "timestamp": {
+      "definition": "frame_index / fps",
+      "dtype": "float32"
+    }
+  }
+}
diff --git a/inputs/agibot/pourwater/task.json b/inputs/agibot/pourwater/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..5372d742353ac9322ce52905aa76743564aa438e
--- /dev/null
+++ b/inputs/agibot/pourwater/task.json
@@ -0,0 +1,743 @@
+{
+  "episodes": [
+    "ep000000",
+    "ep000001",
+    "ep000002",
+    "ep000003",
+    "ep000004",
+    "ep000005",
+    "ep000006",
+    "ep000010",
+    "ep000015",
+    "ep000016",
+    "ep000017",
+    "ep000018",
+    "ep000020",
+    "ep000023",
+    "ep000028",
+    "ep000029",
+    "ep000030",
+    "ep000032",
+    "ep000035",
+    "ep000038",
+    "ep000039",
+    "ep000041",
+    "ep000042",
+    "ep000044",
+    "ep000045"
+  ],
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "field_descriptions": {
+        "action/end/orientation": {
+          "description": "左右手臂末端期望姿态（XYZ+臂形角），shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15
+          ]
+        },
+        "action/end/position": {
+          "description": "左右手臂末端期望位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            2,
+            3,
+            4,
+            5,
+            6,
+            7
+          ]
+        },
+        "action/head/position": {
+          "description": "头部关节期望角度（弧度），[joint_head_yaw, joint_head_pitch]",
+          "dimensions": 3,
+          "indices": [
+            30,
+            31,
+            32
+          ]
+        },
+        "action/joint/position": {
+          "description": "左右臂关节期望角度（弧度），来自 retarget 或 state 补帧",
+          "dimensions": 14,
+          "indices": [
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29
+          ]
+        },
+        "action/left_effector/position": {
+          "description": "左执行器期望行程值/关节角度，夹爪需归一化处理",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "action/left_refpose/orientation": {
+          "description": "左臂参考姿态",
+          "dimensions": 4,
+          "indices": [
+            44,
+            45,
+            46,
+            47
+          ]
+        },
+        "action/right_effector/position": {
+          "description": "右执行器期望行程值/关节角度，夹爪需归一化处理",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "action/right_refpose/orientation": {
+          "description": "右臂参考姿态",
+          "dimensions": 4,
+          "indices": [
+            48,
+            49,
+            50,
+            51
+          ]
+        },
+        "action/robot/velocity": {
+          "description": "底盘期望速度，odom 坐标系，[线速度, 角速度]，size of 2",
+          "dimensions": 6,
+          "indices": [
+            38,
+            39,
+            40,
+            41,
+            42,
+            43
+          ]
+        },
+        "action/waist/position": {
+          "description": "腰部关节期望角度（弧度），[joint_lift_body, joint_body_pitch]",
+          "dimensions": 5,
+          "indices": [
+            33,
+            34,
+            35,
+            36,
+            37
+          ]
+        }
+      },
+      "shape": [
+        52
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "field_descriptions": {
+        "extrinsic_end_T_hand_left_rgbd_aligned/rotation_matrix": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144
+          ]
+        },
+        "extrinsic_end_T_hand_left_rgbd_aligned/translation_vector": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            190,
+            191,
+            192
+          ]
+        },
+        "extrinsic_end_T_hand_right_rgbd_aligned/rotation_matrix": {
+          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153
+          ]
+        },
+        "extrinsic_end_T_hand_right_rgbd_aligned/translation_vector": {
+          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            193,
+            194,
+            195
+          ]
+        },
+        "extrinsic_end_T_head_back_fisheye_aligned/rotation_matrix": {
+          "description": "头部后鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189
+          ]
+        },
+        "extrinsic_end_T_head_back_fisheye_aligned/translation_vector": {
+          "description": "头部后鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            205,
+            206,
+            207
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/rotation_matrix": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/translation_vector": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            202,
+            203,
+            204
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/rotation_matrix": {
+          "description": "头部左鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/translation_vector": {
+          "description": "头部左鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            196,
+            197,
+            198
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/rotation_matrix": {
+          "description": "头部右鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/translation_vector": {
+          "description": "头部右鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            199,
+            200,
+            201
+          ]
+        },
+        "state/end/arm_orientation": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的姿态（RPY 弧度或四元数）",
+          "dimensions": 8,
+          "indices": [
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71
+          ]
+        },
+        "state/end/arm_position": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            72,
+            73,
+            74,
+            75,
+            76,
+            77
+          ]
+        },
+        "state/end/orientation": {
+          "description": "左右手臂末端姿态，四元数 XYZW，shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63
+          ]
+        },
+        "state/end/position": {
+          "description": "左右手臂末端位置（m），shape (2,3)，基于末端关节 FK 计算",
+          "dimensions": 6,
+          "indices": [
+            26,
+            27,
+            28,
+            29,
+            30,
+            31
+          ]
+        },
+        "state/end/velocity": {
+          "description": "左右手臂末端线速度（m/s），来自 MC frame_twists",
+          "dimensions": 24,
+          "indices": [
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55
+          ]
+        },
+        "state/end/wrench": {
+          "description": "左右手臂末端六维力/力矩，fx/fy/fz/mx/my/mz，size of 12",
+          "dimensions": 24,
+          "indices": [
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25
+          ]
+        },
+        "state/head/position": {
+          "description": "头部关节角度（弧度），[joint_head_yaw, joint_head_pitch]，size of 2",
+          "dimensions": 3,
+          "indices": [
+            120,
+            121,
+            122
+          ]
+        },
+        "state/joint/current_value": {
+          "description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/joint/effort": {
+          "description": "左右臂关节力矩（Nm），来自 motor_states[:].effort",
+          "dimensions": 14,
+          "indices": [
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105
+          ]
+        },
+        "state/joint/position": {
+          "description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
+          "dimensions": 14,
+          "indices": [
+            78,
+            79,
+            80,
+            81,
+            82,
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+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91
+          ]
+        },
+        "state/joint/velocity": {
+          "description": "左右臂关节速度（弧度/秒），来自 motor_states[:].velocity",
+          "dimensions": 14,
+          "indices": [
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119
+          ]
+        },
+        "state/left_ee_force/cols": {
+          "description": "左手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/contact": {
+          "description": "左手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/controlled": {
+          "description": "左手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/err_code": {
+          "description": "左手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/normal_force": {
+          "description": "左手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_x": {
+          "description": "左手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_y": {
+          "description": "左手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/rows": {
+          "description": "左手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_x": {
+          "description": "左手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_y": {
+          "description": "左手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/valid": {
+          "description": "左手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_effector/position": {
+          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "state/left_vr_button/axis_click": {
+          "description": "左手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_x": {
+          "description": "左手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_y": {
+          "description": "左手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/hand_trig": {
+          "description": "左手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/index_trig": {
+          "description": "左手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_one": {
+          "description": "左手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_two": {
+          "description": "左手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/operator_event/action_src_status": {
+          "description": "动作来源状态：0=IDLE/BACKWARD/MODEL，1=TAKEOVER（遥操）",
+          "dimensions": 1,
+          "indices": [
+            135
+          ]
+        },
+        "state/right_ee_force/cols": {
+          "description": "右手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/contact": {
+          "description": "右手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/controlled": {
+          "description": "右手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/err_code": {
+          "description": "右手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/normal_force": {
+          "description": "右手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_x": {
+          "description": "右手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_y": {
+          "description": "右手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/rows": {
+          "description": "右手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_x": {
+          "description": "右手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_y": {
+          "description": "右手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/valid": {
+          "description": "右手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_effector/position": {
+          "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "state/right_vr_button/axis_click": {
+          "description": "右手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_x": {
+          "description": "右手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_y": {
+          "description": "右手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/hand_trig": {
+          "description": "右手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/index_trig": {
+          "description": "右手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_one": {
+          "description": "右手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_two": {
+          "description": "右手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/robot/orientation": {
+          "description": "机体姿态，odom 坐标系，四元数，size of 4",
+          "dimensions": 4,
+          "indices": [
+            131,
+            132,
+            133,
+            134
+          ]
+        },
+        "state/robot/position": {
+          "description": "机体位置，odom 坐标系，size of 3（x, y, z，单位 m）",
+          "dimensions": 3,
+          "indices": [
+            128,
+            129,
+            130
+          ]
+        },
+        "state/waist/position": {
+          "description": "腰部关节角度（弧度），[joint_lift_body, joint_body_pitch]，size of 2",
+          "dimensions": 5,
+          "indices": [
+            123,
+            124,
+            125,
+            126,
+            127
+          ]
+        }
+      },
+      "shape": [
+        208
+      ]
+    },
+    "observations": {
+      "hand_left": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      },
+      "hand_right": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      },
+      "top_head": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      }
+    }
+  },
+  "fps": 30.0,
+  "schema_version": "acwmbench.inference.v1",
+  "task": "pourwater"
+}
diff --git a/inputs/agibot/pulldrawer/ep000026/calibration.json b/inputs/agibot/pulldrawer/ep000026/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..764cc79955e4b8828b95bb8f3a56dfb97bef6cc6
--- /dev/null
+++ b/inputs/agibot/pulldrawer/ep000026/calibration.json
@@ -0,0 +1,138 @@
+{
+  "cameras": {
+    "hand_left": {
+      "intrinsics": {
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+        "Cy": 264.59323760472944,
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+        "SN": "FD6171140000c2af",
+        "k1": -0.0477441999255566,
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+        "p1": 0.000417694731476042,
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+        "height": "1056",
+        "width": "1280"
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+              "x": -0.1853413858942329,
+              "y": -0.18995433903720277,
+              "z": 0.6794527070417088
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+              "y": 0.00035538911569674814,
+              "z": 0.09651973270778826
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+          "name": "transform_00"
+        }
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+        "height": "1056",
+        "width": "1280"
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+              "y": 0.0011225049947597044,
+              "z": 0.08988668812155585
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+          "name": "transform_00"
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+        "p2": -0.0003198342
+      },
+      "resolution": {
+        "height": "400",
+        "width": "640"
+      },
+      "transforms": [
+        {
+          "matrix": {
+            "calib_mode": "offline",
+            "rotation": {
+              "w": 0.3764266381156266,
+              "x": -0.5978100443257126,
+              "y": 0.595823098277717,
+              "z": -0.3819960373865136
+            },
+            "sensor_model": "head_front_rgbd_mani",
+            "translation": {
+              "x": 0.09909607036720197,
+              "y": 0.026395529273949236,
+              "z": 0.0969230579136311
+            }
+          },
+          "name": "transform_00"
+        },
+        {
+          "matrix": {
+            "calib_mode": "offline",
+            "rotation": {
+              "w": 0.37607865240867777,
+              "x": -0.5941698014254397,
+              "y": 0.5985174409638526,
+              "z": -0.38380198949276906
+            },
+            "sensor_model": "head_front_rgbd_nav",
+            "translation": {
+              "x": 0.1037401112296168,
+              "y": 0.02264676772681395,
+              "z": 0.095961931623471
+            }
+          },
+          "name": "transform_01"
+        }
+      ]
+    }
+  },
+  "coordinate_convention": "Matrices retain the robot calibration convention.",
+  "schema_version": "acwmbench.inference.v1"
+}
diff --git a/inputs/agibot/pulldrawer/ep000026/metadata.json b/inputs/agibot/pulldrawer/ep000026/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..856be06f1fd4e8965b8fcdaf9917b2e60a691b65
--- /dev/null
+++ b/inputs/agibot/pulldrawer/ep000026/metadata.json
@@ -0,0 +1,19 @@
+{
+  "episode_index": 26,
+  "episode_name": "ep000026",
+  "files": {
+    "calibration": "calibration.json",
+    "observations": {
+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "top_head": "observations/top_head.png"
+    },
+    "trajectory": "trajectory.parquet"
+  },
+  "fps": 30.0,
+  "num_frames": 3563,
+  "num_transitions": 3562,
+  "schema_version": "acwmbench.inference.v1",
+  "seed_local_index": 0,
+  "task_name": "pulldrawer"
+}
diff --git a/inputs/agibot/pulldrawer/ep000026/observations/hand_left.png b/inputs/agibot/pulldrawer/ep000026/observations/hand_left.png
new file mode 100644
index 0000000000000000000000000000000000000000..15066acefdd80dabb06732982d3be1514914ba5c
--- /dev/null
+++ b/inputs/agibot/pulldrawer/ep000026/observations/hand_left.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08228d84c40e17581976a3b9ae139277f7a00c5db944bbc8493475325d1b7889
+size 378937
diff --git a/inputs/agibot/pulldrawer/ep000026/observations/hand_right.png b/inputs/agibot/pulldrawer/ep000026/observations/hand_right.png
new file mode 100644
index 0000000000000000000000000000000000000000..e21dd6fde6805a558fb35db7b810981b545ee19b
--- /dev/null
+++ b/inputs/agibot/pulldrawer/ep000026/observations/hand_right.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48fc982c2f8f3fd0b880200faa88914c7ee1004296374efc97d717317f988b08
+size 338305
diff --git a/inputs/agibot/pulldrawer/ep000026/observations/top_head.png b/inputs/agibot/pulldrawer/ep000026/observations/top_head.png
new file mode 100644
index 0000000000000000000000000000000000000000..a2618d6ca567561562b3de93c58e4b0aa378fb09
--- /dev/null
+++ b/inputs/agibot/pulldrawer/ep000026/observations/top_head.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:873eb664cd0e7980a252c59967f3e9eb4908bfa186ec2f04c9da29db7ee02a50
+size 201848
diff --git a/inputs/agibot/pulldrawer/ep000026/trajectory.parquet b/inputs/agibot/pulldrawer/ep000026/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f8da2929172dff022c4fbfdd960b2f9d25c1ddd8
--- /dev/null
+++ b/inputs/agibot/pulldrawer/ep000026/trajectory.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:387098a2a40991166ea6efde078e248a6eab250692fa39e9494cab6b8014fb9e
+size 2051100
diff --git a/inputs/agibot/pulldrawer/ep000032/calibration.json b/inputs/agibot/pulldrawer/ep000032/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..764cc79955e4b8828b95bb8f3a56dfb97bef6cc6
--- /dev/null
+++ b/inputs/agibot/pulldrawer/ep000032/calibration.json
@@ -0,0 +1,138 @@
+{
+  "cameras": {
+    "hand_left": {
+      "intrinsics": {
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+        "Cy": 264.59323760472944,
+        "Fx": 239.16597545872747,
+        "Fy": 239.18125843059562,
+        "SN": "FD6171140000c2af",
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+        "width": "1280"
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+        "width": "1280"
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+              "y": 0.0011225049947597044,
+              "z": 0.08988668812155585
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+          "name": "transform_00"
+        }
+      ]
+    },
+    "top_head": {
+      "intrinsics": {
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+        "Cy": 198.4500732422,
+        "Fx": 304.5960998535,
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+        "p2": -0.0003198342
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+        "height": "400",
+        "width": "640"
+      },
+      "transforms": [
+        {
+          "matrix": {
+            "calib_mode": "offline",
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+              "z": -0.3819960373865136
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+              "y": 0.026395529273949236,
+              "z": 0.0969230579136311
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+          "name": "transform_00"
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+        {
+          "matrix": {
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+            "rotation": {
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+              "x": -0.5941698014254397,
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+              "y": 0.02264676772681395,
+              "z": 0.095961931623471
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+          },
+          "name": "transform_01"
+        }
+      ]
+    }
+  },
+  "coordinate_convention": "Matrices retain the robot calibration convention.",
+  "schema_version": "acwmbench.inference.v1"
+}
diff --git a/inputs/agibot/pulldrawer/ep000039/metadata.json b/inputs/agibot/pulldrawer/ep000039/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0f0318556e3bd5eac574f49529892f3c69bfe6d
--- /dev/null
+++ b/inputs/agibot/pulldrawer/ep000039/metadata.json
@@ -0,0 +1,19 @@
+{
+  "episode_index": 39,
+  "episode_name": "ep000039",
+  "files": {
+    "calibration": "calibration.json",
+    "observations": {
+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "top_head": "observations/top_head.png"
+    },
+    "trajectory": "trajectory.parquet"
+  },
+  "fps": 30.0,
+  "num_frames": 3537,
+  "num_transitions": 3536,
+  "schema_version": "acwmbench.inference.v1",
+  "seed_local_index": 0,
+  "task_name": "pulldrawer"
+}
diff --git a/inputs/agibot/pulldrawer/ep000039/observations/hand_left.png b/inputs/agibot/pulldrawer/ep000039/observations/hand_left.png
new file mode 100644
index 0000000000000000000000000000000000000000..5bf8f86675205510292356b68a02a35229e6d6ce
--- /dev/null
+++ b/inputs/agibot/pulldrawer/ep000039/observations/hand_left.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5222fac6b576912371afa4b35f309c366fbb8ef0b51296fb3d368eac709f51ba
+size 349760
diff --git a/inputs/agibot/pulldrawer/ep000039/observations/hand_right.png b/inputs/agibot/pulldrawer/ep000039/observations/hand_right.png
new file mode 100644
index 0000000000000000000000000000000000000000..d5f1db455b01e2765608588bac0d4b826f8f997b
--- /dev/null
+++ b/inputs/agibot/pulldrawer/ep000039/observations/hand_right.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22326046dc1ba266978f2ed0e17ff418c0764b8a2d881fc07225054487254fd1
+size 360660
diff --git a/inputs/agibot/pulldrawer/ep000039/observations/top_head.png b/inputs/agibot/pulldrawer/ep000039/observations/top_head.png
new file mode 100644
index 0000000000000000000000000000000000000000..949e691c2a48b5ed95a8f0071b3b69d8954aab6d
--- /dev/null
+++ b/inputs/agibot/pulldrawer/ep000039/observations/top_head.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd5ec1c39d0b81927463b8cd03aaa9eb7b85bc50e1bb1b25c14922d13b7e04da
+size 205790
diff --git a/inputs/agibot/pulldrawer/ep000039/trajectory.parquet b/inputs/agibot/pulldrawer/ep000039/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..61a7feb90be8ff3e3611b3ec0427f4059c6e1456
--- /dev/null
+++ b/inputs/agibot/pulldrawer/ep000039/trajectory.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca72f4eba9daabaeae28a74a0bf0c3557849ad2c754ad1f260dafe2ce84647f9
+size 2017357
diff --git a/inputs/agibot/pulldrawer/schema.json b/inputs/agibot/pulldrawer/schema.json
new file mode 100644
index 0000000000000000000000000000000000000000..3984e5dc4449d3f4d7ab4c5fee77dc07357a9480
--- /dev/null
+++ b/inputs/agibot/pulldrawer/schema.json
@@ -0,0 +1,726 @@
+{
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "field_descriptions": {
+        "action/end/orientation": {
+          "description": "左右手臂末端期望姿态（XYZ+臂形角），shape (2,4)",
+          "dimensions": 8,
+          "indices": [
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+            10,
+            11,
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+          "description": "左右手臂末端期望位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
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+            3,
+            4,
+            5,
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+          "dimensions": 3,
+          "indices": [
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+            31,
+            32
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+        "action/joint/position": {
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+          "dimensions": 1,
+          "indices": [
+            0
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+        },
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+          "indices": [
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+            45,
+            46,
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+        "action/right_effector/position": {
+          "description": "右执行器期望行程值/关节角度，夹爪需归一化处理",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
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+          "indices": [
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+            49,
+            50,
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+          "description": "底盘期望速度，odom 坐标系，[线速度, 角速度]，size of 2",
+          "dimensions": 6,
+          "indices": [
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+            39,
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+          "dimensions": 5,
+          "indices": [
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+            34,
+            35,
+            36,
+            37
+          ]
+        }
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+      "shape": [
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+    },
+    "observation.state": {
+      "dtype": "float32",
+      "field_descriptions": {
+        "extrinsic_end_T_hand_left_rgbd_aligned/rotation_matrix": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
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+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144
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+        "extrinsic_end_T_hand_left_rgbd_aligned/translation_vector": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            190,
+            191,
+            192
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+        },
+        "extrinsic_end_T_hand_right_rgbd_aligned/rotation_matrix": {
+          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153
+          ]
+        },
+        "extrinsic_end_T_hand_right_rgbd_aligned/translation_vector": {
+          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            193,
+            194,
+            195
+          ]
+        },
+        "extrinsic_end_T_head_back_fisheye_aligned/rotation_matrix": {
+          "description": "头部后鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
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+            186,
+            187,
+            188,
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+        },
+        "extrinsic_end_T_head_back_fisheye_aligned/translation_vector": {
+          "description": "头部后鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            205,
+            206,
+            207
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/rotation_matrix": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180
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+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/translation_vector": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            202,
+            203,
+            204
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/rotation_matrix": {
+          "description": "头部左鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162
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+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/translation_vector": {
+          "description": "头部左鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            196,
+            197,
+            198
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/rotation_matrix": {
+          "description": "头部右鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            163,
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+            168,
+            169,
+            170,
+            171
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+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/translation_vector": {
+          "description": "头部右鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            199,
+            200,
+            201
+          ]
+        },
+        "state/end/arm_orientation": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的姿态（RPY 弧度或四元数）",
+          "dimensions": 8,
+          "indices": [
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71
+          ]
+        },
+        "state/end/arm_position": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            72,
+            73,
+            74,
+            75,
+            76,
+            77
+          ]
+        },
+        "state/end/orientation": {
+          "description": "左右手臂末端姿态，四元数 XYZW，shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63
+          ]
+        },
+        "state/end/position": {
+          "description": "左右手臂末端位置（m），shape (2,3)，基于末端关节 FK 计算",
+          "dimensions": 6,
+          "indices": [
+            26,
+            27,
+            28,
+            29,
+            30,
+            31
+          ]
+        },
+        "state/end/velocity": {
+          "description": "左右手臂末端线速度（m/s），来自 MC frame_twists",
+          "dimensions": 24,
+          "indices": [
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+          ]
+        },
+        "state/end/wrench": {
+          "description": "左右手臂末端六维力/力矩，fx/fy/fz/mx/my/mz，size of 12",
+          "dimensions": 24,
+          "indices": [
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+            25
+          ]
+        },
+        "state/head/position": {
+          "description": "头部关节角度（弧度），[joint_head_yaw, joint_head_pitch]，size of 2",
+          "dimensions": 3,
+          "indices": [
+            120,
+            121,
+            122
+          ]
+        },
+        "state/joint/current_value": {
+          "description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/joint/effort": {
+          "description": "左右臂关节力矩（Nm），来自 motor_states[:].effort",
+          "dimensions": 14,
+          "indices": [
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+        },
+        "state/joint/position": {
+          "description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
+          "dimensions": 14,
+          "indices": [
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+        },
+        "state/joint/velocity": {
+          "description": "左右臂关节速度（弧度/秒），来自 motor_states[:].velocity",
+          "dimensions": 14,
+          "indices": [
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+            116,
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+          ]
+        },
+        "state/left_ee_force/cols": {
+          "description": "左手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/contact": {
+          "description": "左手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/controlled": {
+          "description": "左手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/err_code": {
+          "description": "左手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/normal_force": {
+          "description": "左手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_x": {
+          "description": "左手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_y": {
+          "description": "左手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/rows": {
+          "description": "左手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_x": {
+          "description": "左手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_y": {
+          "description": "左手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/valid": {
+          "description": "左手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_effector/position": {
+          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "state/left_vr_button/axis_click": {
+          "description": "左手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_x": {
+          "description": "左手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_y": {
+          "description": "左手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/hand_trig": {
+          "description": "左手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/index_trig": {
+          "description": "左手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_one": {
+          "description": "左手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_two": {
+          "description": "左手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/operator_event/action_src_status": {
+          "description": "动作来源状态：0=IDLE/BACKWARD/MODEL，1=TAKEOVER（遥操）",
+          "dimensions": 1,
+          "indices": [
+            135
+          ]
+        },
+        "state/right_ee_force/cols": {
+          "description": "右手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/contact": {
+          "description": "右手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/controlled": {
+          "description": "右手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/err_code": {
+          "description": "右手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/normal_force": {
+          "description": "右手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_x": {
+          "description": "右手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_y": {
+          "description": "右手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/rows": {
+          "description": "右手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_x": {
+          "description": "右手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_y": {
+          "description": "右手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/valid": {
+          "description": "右手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_effector/position": {
+          "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "state/right_vr_button/axis_click": {
+          "description": "右手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_x": {
+          "description": "右手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_y": {
+          "description": "右手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/hand_trig": {
+          "description": "右手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/index_trig": {
+          "description": "右手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_one": {
+          "description": "右手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_two": {
+          "description": "右手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/robot/orientation": {
+          "description": "机体姿态，odom 坐标系，四元数，size of 4",
+          "dimensions": 4,
+          "indices": [
+            131,
+            132,
+            133,
+            134
+          ]
+        },
+        "state/robot/position": {
+          "description": "机体位置，odom 坐标系，size of 3（x, y, z，单位 m）",
+          "dimensions": 3,
+          "indices": [
+            128,
+            129,
+            130
+          ]
+        },
+        "state/waist/position": {
+          "description": "腰部关节角度（弧度），[joint_lift_body, joint_body_pitch]，size of 2",
+          "dimensions": 5,
+          "indices": [
+            123,
+            124,
+            125,
+            126,
+            127
+          ]
+        }
+      },
+      "shape": [
+        208
+      ]
+    }
+  },
+  "observations": {
+    "hand_left": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    },
+    "hand_right": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    },
+    "top_head": {
+      "availability": "initial frame only",
+      "color_space": "RGB",
+      "dtype": "uint8",
+      "encoding": "png"
+    }
+  },
+  "schema_version": "acwmbench.inference.v1",
+  "timeline": {
+    "fps": 30.0,
+    "frame_index": {
+      "dtype": "int64",
+      "origin": 0,
+      "step": 1
+    },
+    "timestamp": {
+      "definition": "frame_index / fps",
+      "dtype": "float32"
+    }
+  }
+}
diff --git a/inputs/agibot/pulldrawer/task.json b/inputs/agibot/pulldrawer/task.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b93e94ffa9c8080f3ff25df61c82b16c2a554c0
--- /dev/null
+++ b/inputs/agibot/pulldrawer/task.json
@@ -0,0 +1,743 @@
+{
+  "episodes": [
+    "ep000001",
+    "ep000003",
+    "ep000004",
+    "ep000005",
+    "ep000006",
+    "ep000008",
+    "ep000009",
+    "ep000010",
+    "ep000013",
+    "ep000018",
+    "ep000019",
+    "ep000020",
+    "ep000021",
+    "ep000025",
+    "ep000026",
+    "ep000029",
+    "ep000032",
+    "ep000035",
+    "ep000036",
+    "ep000037",
+    "ep000038",
+    "ep000039",
+    "ep000041",
+    "ep000044",
+    "ep000045"
+  ],
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "field_descriptions": {
+        "action/end/orientation": {
+          "description": "左右手臂末端期望姿态（XYZ+臂形角），shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15
+          ]
+        },
+        "action/end/position": {
+          "description": "左右手臂末端期望位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            2,
+            3,
+            4,
+            5,
+            6,
+            7
+          ]
+        },
+        "action/head/position": {
+          "description": "头部关节期望角度（弧度），[joint_head_yaw, joint_head_pitch]",
+          "dimensions": 3,
+          "indices": [
+            30,
+            31,
+            32
+          ]
+        },
+        "action/joint/position": {
+          "description": "左右臂关节期望角度（弧度），来自 retarget 或 state 补帧",
+          "dimensions": 14,
+          "indices": [
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29
+          ]
+        },
+        "action/left_effector/position": {
+          "description": "左执行器期望行程值/关节角度，夹爪需归一化处理",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "action/left_refpose/orientation": {
+          "description": "左臂参考姿态",
+          "dimensions": 4,
+          "indices": [
+            44,
+            45,
+            46,
+            47
+          ]
+        },
+        "action/right_effector/position": {
+          "description": "右执行器期望行程值/关节角度，夹爪需归一化处理",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "action/right_refpose/orientation": {
+          "description": "右臂参考姿态",
+          "dimensions": 4,
+          "indices": [
+            48,
+            49,
+            50,
+            51
+          ]
+        },
+        "action/robot/velocity": {
+          "description": "底盘期望速度，odom 坐标系，[线速度, 角速度]，size of 2",
+          "dimensions": 6,
+          "indices": [
+            38,
+            39,
+            40,
+            41,
+            42,
+            43
+          ]
+        },
+        "action/waist/position": {
+          "description": "腰部关节期望角度（弧度），[joint_lift_body, joint_body_pitch]",
+          "dimensions": 5,
+          "indices": [
+            33,
+            34,
+            35,
+            36,
+            37
+          ]
+        }
+      },
+      "shape": [
+        52
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "field_descriptions": {
+        "extrinsic_end_T_hand_left_rgbd_aligned/rotation_matrix": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            136,
+            137,
+            138,
+            139,
+            140,
+            141,
+            142,
+            143,
+            144
+          ]
+        },
+        "extrinsic_end_T_hand_left_rgbd_aligned/translation_vector": {
+          "description": "左手 RGBD 相机（RGB 镜头）到 arm_l_end_link 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            190,
+            191,
+            192
+          ]
+        },
+        "extrinsic_end_T_hand_right_rgbd_aligned/rotation_matrix": {
+          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            145,
+            146,
+            147,
+            148,
+            149,
+            150,
+            151,
+            152,
+            153
+          ]
+        },
+        "extrinsic_end_T_hand_right_rgbd_aligned/translation_vector": {
+          "description": "右手 RGBD 相机（RGB 镜头）到 arm_r_end_link 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            193,
+            194,
+            195
+          ]
+        },
+        "extrinsic_end_T_head_back_fisheye_aligned/rotation_matrix": {
+          "description": "头部后鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            181,
+            182,
+            183,
+            184,
+            185,
+            186,
+            187,
+            188,
+            189
+          ]
+        },
+        "extrinsic_end_T_head_back_fisheye_aligned/translation_vector": {
+          "description": "头部后鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            205,
+            206,
+            207
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/rotation_matrix": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            172,
+            173,
+            174,
+            175,
+            176,
+            177,
+            178,
+            179,
+            180
+          ]
+        },
+        "extrinsic_end_T_head_front_rgbd_aligned/translation_vector": {
+          "description": "头部前 RGBD 相机（RGB 镜头）到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            202,
+            203,
+            204
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/rotation_matrix": {
+          "description": "头部左鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            154,
+            155,
+            156,
+            157,
+            158,
+            159,
+            160,
+            161,
+            162
+          ]
+        },
+        "extrinsic_end_T_head_left_fisheye_aligned/translation_vector": {
+          "description": "头部左鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            196,
+            197,
+            198
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/rotation_matrix": {
+          "description": "头部右鱼眼相机到 head_link3 的外参旋转矩阵（3x3 展平为 9 维），逐帧对齐",
+          "dimensions": 9,
+          "indices": [
+            163,
+            164,
+            165,
+            166,
+            167,
+            168,
+            169,
+            170,
+            171
+          ]
+        },
+        "extrinsic_end_T_head_right_fisheye_aligned/translation_vector": {
+          "description": "头部右鱼眼相机到 head_link3 的外参平移向量（m），逐帧对齐",
+          "dimensions": 3,
+          "indices": [
+            199,
+            200,
+            201
+          ]
+        },
+        "state/end/arm_orientation": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的姿态（RPY 弧度或四元数）",
+          "dimensions": 8,
+          "indices": [
+            64,
+            65,
+            66,
+            67,
+            68,
+            69,
+            70,
+            71
+          ]
+        },
+        "state/end/arm_position": {
+          "description": "左右手臂末端在 arm_base_link 坐标系下的位置（m），shape (2,3)",
+          "dimensions": 6,
+          "indices": [
+            72,
+            73,
+            74,
+            75,
+            76,
+            77
+          ]
+        },
+        "state/end/orientation": {
+          "description": "左右手臂末端姿态，四元数 XYZW，shape (2,4)",
+          "dimensions": 8,
+          "indices": [
+            56,
+            57,
+            58,
+            59,
+            60,
+            61,
+            62,
+            63
+          ]
+        },
+        "state/end/position": {
+          "description": "左右手臂末端位置（m），shape (2,3)，基于末端关节 FK 计算",
+          "dimensions": 6,
+          "indices": [
+            26,
+            27,
+            28,
+            29,
+            30,
+            31
+          ]
+        },
+        "state/end/velocity": {
+          "description": "左右手臂末端线速度（m/s），来自 MC frame_twists",
+          "dimensions": 24,
+          "indices": [
+            32,
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41,
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55
+          ]
+        },
+        "state/end/wrench": {
+          "description": "左右手臂末端六维力/力矩，fx/fy/fz/mx/my/mz，size of 12",
+          "dimensions": 24,
+          "indices": [
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8,
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17,
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25
+          ]
+        },
+        "state/head/position": {
+          "description": "头部关节角度（弧度），[joint_head_yaw, joint_head_pitch]，size of 2",
+          "dimensions": 3,
+          "indices": [
+            120,
+            121,
+            122
+          ]
+        },
+        "state/joint/current_value": {
+          "description": "左右臂关节电流值（A），来自 motor_states[:].current，size of 14",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/joint/effort": {
+          "description": "左右臂关节力矩（Nm），来自 motor_states[:].effort",
+          "dimensions": 14,
+          "indices": [
+            92,
+            93,
+            94,
+            95,
+            96,
+            97,
+            98,
+            99,
+            100,
+            101,
+            102,
+            103,
+            104,
+            105
+          ]
+        },
+        "state/joint/position": {
+          "description": "左右臂关节角度（弧度），来自 aligned_joints.h5 state/joint/position，size of 14（l1-l7, r1-r7）",
+          "dimensions": 14,
+          "indices": [
+            78,
+            79,
+            80,
+            81,
+            82,
+            83,
+            84,
+            85,
+            86,
+            87,
+            88,
+            89,
+            90,
+            91
+          ]
+        },
+        "state/joint/velocity": {
+          "description": "左右臂关节速度（弧度/秒），来自 motor_states[:].velocity",
+          "dimensions": 14,
+          "indices": [
+            106,
+            107,
+            108,
+            109,
+            110,
+            111,
+            112,
+            113,
+            114,
+            115,
+            116,
+            117,
+            118,
+            119
+          ]
+        },
+        "state/left_ee_force/cols": {
+          "description": "左手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/contact": {
+          "description": "左手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/controlled": {
+          "description": "左手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/err_code": {
+          "description": "左手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/normal_force": {
+          "description": "左手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_x": {
+          "description": "左手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/resolution_y": {
+          "description": "左手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/rows": {
+          "description": "左手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_x": {
+          "description": "左手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/shear_force_y": {
+          "description": "左手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_ee_force/valid": {
+          "description": "左手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_effector/position": {
+          "description": "左执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            0
+          ]
+        },
+        "state/left_vr_button/axis_click": {
+          "description": "左手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_x": {
+          "description": "左手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/axis_y": {
+          "description": "左手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/hand_trig": {
+          "description": "左手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/index_trig": {
+          "description": "左手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_one": {
+          "description": "左手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/left_vr_button/key_two": {
+          "description": "左手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/operator_event/action_src_status": {
+          "description": "动作来源状态：0=IDLE/BACKWARD/MODEL，1=TAKEOVER（遥操）",
+          "dimensions": 1,
+          "indices": [
+            135
+          ]
+        },
+        "state/right_ee_force/cols": {
+          "description": "右手触觉传感器矩阵列数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/contact": {
+          "description": "右手触觉传感器接触状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/controlled": {
+          "description": "右手触觉传感器是否处于受控状态",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/err_code": {
+          "description": "右手触觉传感器错误码",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/normal_force": {
+          "description": "右手触觉传感器法向力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_x": {
+          "description": "右手触觉传感器 X 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/resolution_y": {
+          "description": "右手触觉传感器 Y 方向分辨率",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/rows": {
+          "description": "右手触觉传感器矩阵行数",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_x": {
+          "description": "右手触觉传感器 X 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/shear_force_y": {
+          "description": "右手触觉传感器 Y 方向剪切力（N）",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_ee_force/valid": {
+          "description": "右手触觉传感器数据有效标志",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_effector/position": {
+          "description": "右执行器行程值/关节角度，来自夹爪或灵巧手；category: binary=张合, continuous=连续控制",
+          "dimensions": 1,
+          "indices": [
+            1
+          ]
+        },
+        "state/right_vr_button/axis_click": {
+          "description": "右手 VR 手柄摇杆按下状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_x": {
+          "description": "右手 VR 手柄摇杆 X 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/axis_y": {
+          "description": "右手 VR 手柄摇杆 Y 轴值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/hand_trig": {
+          "description": "右手 VR 手柄握持扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/index_trig": {
+          "description": "右手 VR 手柄食指扳机值，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_one": {
+          "description": "右手 VR 手柄按键一状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/right_vr_button/key_two": {
+          "description": "右手 VR 手柄按键二状态，size of 1",
+          "dimensions": 0,
+          "indices": []
+        },
+        "state/robot/orientation": {
+          "description": "机体姿态，odom 坐标系，四元数，size of 4",
+          "dimensions": 4,
+          "indices": [
+            131,
+            132,
+            133,
+            134
+          ]
+        },
+        "state/robot/position": {
+          "description": "机体位置，odom 坐标系，size of 3（x, y, z，单位 m）",
+          "dimensions": 3,
+          "indices": [
+            128,
+            129,
+            130
+          ]
+        },
+        "state/waist/position": {
+          "description": "腰部关节角度（弧度），[joint_lift_body, joint_body_pitch]，size of 2",
+          "dimensions": 5,
+          "indices": [
+            123,
+            124,
+            125,
+            126,
+            127
+          ]
+        }
+      },
+      "shape": [
+        208
+      ]
+    },
+    "observations": {
+      "hand_left": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      },
+      "hand_right": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      },
+      "top_head": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      }
+    }
+  },
+  "fps": 30.0,
+  "schema_version": "acwmbench.inference.v1",
+  "task": "pulldrawer"
+}
diff --git a/inputs/agibot/schema.json b/inputs/agibot/schema.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3d91c595f345e9057b6a4ca85ffce64b3a26cf5
--- /dev/null
+++ b/inputs/agibot/schema.json
@@ -0,0 +1,12 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "additionalProperties": false,
+  "required": [
+    "schema_version",
+    "tasks",
+    "episodes",
+    "kinematics"
+  ],
+  "title": "ACWMBench inference dataset",
+  "type": "object"
+}
diff --git a/inputs/agibot/shared/g02/kinematics.json b/inputs/agibot/shared/g02/kinematics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f45588ddac50349b26a9fb739d6d225ee3645484
--- /dev/null
+++ b/inputs/agibot/shared/g02/kinematics.json
@@ -0,0 +1,165 @@
+{
+  "base_links": [
+    "base_link"
+  ],
+  "joint_count": 53,
+  "joints": [
+    "idx01_body_joint1",
+    "idx02_body_joint2",
+    "idx03_body_joint3",
+    "idx04_body_joint4",
+    "idx05_body_joint5",
+    "idx20_arm_base_joint",
+    "idx10_head_base_joint",
+    "idx11_head_joint1",
+    "idx12_head_joint2",
+    "idx13_head_joint3",
+    "idx100_chassis_base_joint",
+    "idx111_chassis_lwheel_front_joint1",
+    "idx112_chassis_lwheel_front_joint2",
+    "idx131_chassis_rwheel_front_joint1",
+    "idx132_chassis_rwheel_front_joint2",
+    "idx141_chassis_rwheel_rear_joint1",
+    "idx142_chassis_rwheel_rear_joint2",
+    "idx121_chassis_lwheel_rear_joint1",
+    "idx122_chassis_lwheel_rear_joint2",
+    "idx21_arm_l_joint1",
+    "idx22_arm_l_joint2",
+    "idx23_arm_l_joint3",
+    "idx24_arm_l_joint4",
+    "idx25_arm_l_joint5",
+    "idx26_arm_l_joint6",
+    "idx27_arm_l_joint7",
+    "arm_l_end_joint",
+    "idx61_arm_r_joint1",
+    "idx62_arm_r_joint2",
+    "idx63_arm_r_joint3",
+    "idx64_arm_r_joint4",
+    "idx65_arm_r_joint5",
+    "idx66_arm_r_joint6",
+    "idx67_arm_r_joint7",
+    "arm_r_end_joint",
+    "idx30_gripper_l_camera_joint",
+    "idx51_gripper_l_base_joint",
+    "idx52_gripper_l_center_joint",
+    "idx31_gripper_l_inner_joint1",
+    "idx32_gripper_l_outer_joint1",
+    "idx33_gripper_l_left_support_joint",
+    "idx34_gripper_l_inner_joint2",
+    "idx35_gripper_l_outer_joint2",
+    "idx36_gripper_l_right_support_joint",
+    "idx70_gripper_r_camera_joint",
+    "idx91_gripper_r_base_joint",
+    "idx92_gripper_r_center_joint",
+    "idx71_gripper_r_inner_joint1",
+    "idx72_gripper_r_outer_joint1",
+    "idx73_gripper_r_left_support_joint",
+    "idx74_gripper_r_inner_joint2",
+    "idx75_gripper_r_outer_joint2",
+    "idx76_gripper_r_right_support_joint"
+  ],
+  "link_count": 54,
+  "links": [
+    "base_link",
+    "body_link1",
+    "body_link2",
+    "body_link3",
+    "body_link4",
+    "body_link5",
+    "arm_base_link",
+    "head_base_link",
+    "head_link1",
+    "head_link2",
+    "head_link3",
+    "chassis_link",
+    "chassis_lwheel_front_link1",
+    "chassis_lwheel_front_link2",
+    "chassis_rwheel_front_link1",
+    "chassis_rwheel_front_link2",
+    "chassis_rwheel_rear_link1",
+    "chassis_rwheel_rear_link2",
+    "chassis_lwheel_rear_link1",
+    "chassis_lwheel_rear_link2",
+    "arm_l_link1",
+    "arm_l_link2",
+    "arm_l_link3",
+    "arm_l_link4",
+    "arm_l_link5",
+    "arm_l_link6",
+    "arm_l_link7",
+    "arm_l_end_link",
+    "arm_r_link1",
+    "arm_r_link2",
+    "arm_r_link3",
+    "arm_r_link4",
+    "arm_r_link5",
+    "arm_r_link6",
+    "arm_r_link7",
+    "arm_r_end_link",
+    "gripper_l_camera_link",
+    "gripper_l_center_link",
+    "gripper_l_base_link",
+    "gripper_l_left_inner_link",
+    "gripper_l_left_outer_link",
+    "gripper_l_left_support_link",
+    "gripper_l_right_inner_link",
+    "gripper_l_right_outer_link",
+    "gripper_l_right_support_link",
+    "gripper_r_camera_link",
+    "gripper_r_center_link",
+    "gripper_r_base_link",
+    "gripper_r_left_inner_link",
+    "gripper_r_left_outer_link",
+    "gripper_r_left_support_link",
+    "gripper_r_right_inner_link",
+    "gripper_r_right_outer_link",
+    "gripper_r_right_support_link"
+  ],
+  "movable_joints": [
+    "idx01_body_joint1",
+    "idx02_body_joint2",
+    "idx03_body_joint3",
+    "idx04_body_joint4",
+    "idx05_body_joint5",
+    "idx11_head_joint1",
+    "idx12_head_joint2",
+    "idx13_head_joint3",
+    "idx111_chassis_lwheel_front_joint1",
+    "idx112_chassis_lwheel_front_joint2",
+    "idx131_chassis_rwheel_front_joint1",
+    "idx132_chassis_rwheel_front_joint2",
+    "idx141_chassis_rwheel_rear_joint1",
+    "idx142_chassis_rwheel_rear_joint2",
+    "idx121_chassis_lwheel_rear_joint1",
+    "idx122_chassis_lwheel_rear_joint2",
+    "idx21_arm_l_joint1",
+    "idx22_arm_l_joint2",
+    "idx23_arm_l_joint3",
+    "idx24_arm_l_joint4",
+    "idx25_arm_l_joint5",
+    "idx26_arm_l_joint6",
+    "idx27_arm_l_joint7",
+    "idx61_arm_r_joint1",
+    "idx62_arm_r_joint2",
+    "idx63_arm_r_joint3",
+    "idx64_arm_r_joint4",
+    "idx65_arm_r_joint5",
+    "idx66_arm_r_joint6",
+    "idx67_arm_r_joint7",
+    "idx31_gripper_l_inner_joint1",
+    "idx32_gripper_l_outer_joint1",
+    "idx33_gripper_l_left_support_joint",
+    "idx34_gripper_l_inner_joint2",
+    "idx35_gripper_l_outer_joint2",
+    "idx36_gripper_l_right_support_joint",
+    "idx71_gripper_r_inner_joint1",
+    "idx72_gripper_r_outer_joint1",
+    "idx73_gripper_r_left_support_joint",
+    "idx74_gripper_r_inner_joint2",
+    "idx75_gripper_r_outer_joint2",
+    "idx76_gripper_r_right_support_joint"
+  ],
+  "robot": "g02",
+  "schema_version": "acwmbench.inference.v1",
+  "urdf": "kinematics.urdf"
+}
diff --git a/inputs/agibot/shared/g02/kinematics.urdf b/inputs/agibot/shared/g02/kinematics.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..193e76ca9aa5183eb11d7d61e8edfcb6f4bd31fb
--- /dev/null
+++ b/inputs/agibot/shared/g02/kinematics.urdf
@@ -0,0 +1,692 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="g02">
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0034754 0.0061443 0.096655" />
+      <mass value="80" />
+      <inertia ixx="0.7115" ixy="-1.6509E-05" ixz="0.011945" iyy="0.82339" iyz="-3.6042E-05" izz="1.3573" />
+    </inertial>
+  </link>
+  <link name="body_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00489400639408126 0.000193106698721912 0.175561673292876" />
+      <mass value="20.7873543330424" />
+      <inertia ixx="0.261032758003677" ixy="0.000602528716197084" ixz="-1.29680162892322E-05" iyy="0.260630471698783" iyz="-0.000709763689000467" izz="0.059577479809498" />
+    </inertial>
+  </link>
+  <link name="body_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00254034356479389 -0.0437019539573708 0.185408475115362" />
+      <mass value="12.4097528419251" />
+      <inertia ixx="0.195214319300036" ixy="-2.0467554323506E-05" ixz="0.00360134174333636" iyy="0.208364581033745" iyz="-4.02135855207347E-05" izz="0.0221456249678955" />
+    </inertial>
+  </link>
+  <link name="body_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000429683996786348 -0.00641623694858151 4.19233757444903E-05" />
+      <mass value="7.34765728790629" />
+      <inertia ixx="0.0253682597505229" ixy="-8.63202978370692E-05" ixz="5.03287620270186E-06" iyy="0.0245465908681745" iyz="0.00010798897559337" izz="0.0236233112440919" />
+    </inertial>
+  </link>
+  <link name="body_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0714497732220123 -6.54615430835531E-05 0.0300405432603843" />
+      <mass value="6.23060984301658" />
+      <inertia ixx="0.0248588323804035" ixy="4.12661173047439E-05" ixz="0.00171366593325419" iyy="0.0315396763705882" iyz="1.37672137570577E-05" izz="0.0278671278403372" />
+    </inertial>
+  </link>
+  <link name="body_link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0244423519676249 0.000202655359185969 0.136945087391502" />
+      <mass value="7.9008845440508" />
+      <inertia ixx="0.0775083196428173" ixy="-2.84236541752216E-05" ixz="-0.000289173735305952" iyy="0.0555694041163671" iyz="-7.14577046048758E-05" izz="0.0426933229005545" />
+    </inertial>
+  </link>
+  <link name="arm_base_link" />
+  <link name="head_base_link" />
+  <link name="head_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00424600804033498 -1.36432084463234E-07 -0.0288855031850013" />
+      <mass value="0.245638470524919" />
+      <inertia ixx="0.000295474845844785" ixy="2.16595664256454E-10" ixz="3.96168576252704E-05" iyy="0.000306992190315694" iyz="9.72631848310033E-10" izz="8.960900480058E-05" />
+    </inertial>
+  </link>
+  <link name="head_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0363590807062005 -0.000333631107655816 -0.00246318093563791" />
+      <mass value="0.0944986936701784" />
+      <inertia ixx="5.65442302061785E-05" ixy="3.12497480897119E-07" ixz="-9.76196362183098E-07" iyy="3.80437118326616E-05" iyz="-4.40659777809432E-08" izz="5.02982854229241E-05" />
+    </inertial>
+  </link>
+  <link name="head_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00327292724863273 2.14734069719363E-05 0.0163618254217082" />
+      <mass value="17.8197028286005" />
+      <inertia ixx="0.0456161978243042" ixy="-3.46049842158625E-06" ixz="-0.000566950981666778" iyy="0.0558096580410143" iyz="-5.53441269801176E-06" izz="0.0712602089203159" />
+    </inertial>
+  </link>
+  <link name="chassis_link" />
+  <link name="chassis_lwheel_front_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="4.8347E-05 -0.021386 -0.055149" />
+      <mass value="0.59301" />
+      <inertia ixx="0.001129" ixy="-6.1014E-07" ixz="-1.4058E-06" iyy="0.00087934" iyz="-0.00039606" izz="0.00056331" />
+    </inertial>
+  </link>
+  <link name="chassis_lwheel_front_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-2.3442E-06 -0.0013086 1.0892E-05" />
+      <mass value="3.6283" />
+      <inertia ixx="0.0058835" ixy="2.2411E-07" ixz="3.433E-08" iyy="0.010779" iyz="3.6966E-07" izz="0.0058842" />
+    </inertial>
+  </link>
+  <link name="chassis_rwheel_front_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-4.8347E-05 0.021386 -0.055149" />
+      <mass value="0.59301" />
+      <inertia ixx="0.001129" ixy="-6.1014E-07" ixz="1.4058E-06" iyy="0.00087934" iyz="0.00039606" izz="0.00056331" />
+    </inertial>
+  </link>
+  <link name="chassis_rwheel_front_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.3442E-06 0.0013086 1.0892E-05" />
+      <mass value="3.6283" />
+      <inertia ixx="0.0058835" ixy="2.2411E-07" ixz="-3.433E-08" iyy="0.010779" iyz="-3.6966E-07" izz="0.0058842" />
+    </inertial>
+  </link>
+  <link name="chassis_rwheel_rear_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-4.8347E-05 0.021386 -0.055149" />
+      <mass value="0.59301" />
+      <inertia ixx="0.001129" ixy="-6.1014E-07" ixz="1.4058E-06" iyy="0.00087934" iyz="0.00039606" izz="0.00056331" />
+    </inertial>
+  </link>
+  <link name="chassis_rwheel_rear_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.3442E-06 0.0013086 1.0892E-05" />
+      <mass value="3.6283" />
+      <inertia ixx="0.0058835" ixy="2.2411E-07" ixz="-3.433E-08" iyy="0.010779" iyz="-3.6966E-07" izz="0.0058842" />
+    </inertial>
+  </link>
+  <link name="chassis_lwheel_rear_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="4.8347E-05 -0.021386 -0.055149" />
+      <mass value="0.59301" />
+      <inertia ixx="0.001129" ixy="-6.1014E-07" ixz="-1.4058E-06" iyy="0.00087934" iyz="-0.00039606" izz="0.00056331" />
+    </inertial>
+  </link>
+  <link name="chassis_lwheel_rear_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-2.3442E-06 -0.0013086 1.0892E-05" />
+      <mass value="3.6283" />
+      <inertia ixx="0.0058835" ixy="2.2411E-07" ixz="3.433E-08" iyy="0.010779" iyz="3.6966E-07" izz="0.0058842" />
+    </inertial>
+  </link>
+  <link name="arm_l_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000184301 0.001568154 0.172803911" />
+      <mass value="2.17" />
+      <inertia ixx="0.003322491" ixy="0.000000319" ixz="-0.00000048" iyy="0.002609043" iyz="-0.000014858" izz="0.003176913" />
+    </inertial>
+  </link>
+  <link name="arm_l_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000016932 0.106689462 -0.00179469" />
+      <mass value="1.9" />
+      <inertia ixx="0.00779803" ixy="-0.000002265" ixz="-0.00000248" iyy="0.00305507" iyz="0.000492831" izz="0.006748185" />
+    </inertial>
+  </link>
+  <link name="arm_l_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.008226598 -0.001273425 0.311389109" />
+      <mass value="1.86" />
+      <inertia ixx="0.006412854" ixy="0.000009094" ixz="0.000347653" iyy="0.005915953" iyz="-0.000023139" izz="0.002765828" />
+    </inertial>
+  </link>
+  <link name="arm_l_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.009241652 0.084042407 0.002171786" />
+      <mass value="1.027" />
+      <inertia ixx="0.002946389" ixy="-0.000122034" ixz="0.000024179" iyy="0.001409607" iyz="-0.000220295" izz="0.002444466" />
+    </inertial>
+  </link>
+  <link name="arm_l_link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000756035 0.000722914 0.191236396" />
+      <mass value="1.276" />
+      <inertia ixx="0.002413493" ixy="-0.000038074" ixz="-0.00004536" iyy="0.002002464" iyz="0.000066234" izz="0.001586933" />
+    </inertial>
+  </link>
+  <link name="arm_l_link6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003932433 0.000061837 -0.000158947" />
+      <mass value="0.813" />
+      <inertia ixx="0.000509166" ixy="0.000000955" ixz="0.000001806" iyy="0.000667287" iyz="0.000000456" izz="0.00065915" />
+    </inertial>
+  </link>
+  <link name="arm_l_link7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.052854064 0.000277108 -0.001539537" />
+      <mass value="0.312" />
+      <inertia ixx="0.000433251" ixy="0.000000375" ixz="0.000038784" iyy="0.00067633" iyz="-0.000002651" izz="0.000451181" />
+    </inertial>
+  </link>
+  <link name="arm_l_end_link" />
+  <link name="arm_r_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000186337 -0.001542822 0.172784077" />
+      <mass value="2.17" />
+      <inertia ixx="0.003293742" ixy="0.000000294" ixz="0.000000479" iyy="0.00258807" iyz="0.000014957" izz="0.003148174" />
+    </inertial>
+  </link>
+  <link name="arm_r_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000016928 0.106691378 0.001794536" />
+      <mass value="1.9" />
+      <inertia ixx="0.00779827" ixy="0.000002265" ixz="-0.00000248" iyy="0.003055175" iyz="-0.000492837" izz="0.006748425" />
+    </inertial>
+  </link>
+  <link name="arm_r_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.009022338 0.000900475 0.312063927" />
+      <mass value="1.86" />
+      <inertia ixx="0.006355919" ixy="0.000015995" ixz="0.000299449" iyy="0.005816094" iyz="0.000046832" izz="0.002691146" />
+    </inertial>
+  </link>
+  <link name="arm_r_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.009272377 0.084042199 -0.00216935" />
+      <mass value="1.027" />
+      <inertia ixx="0.002946101" ixy="-0.000118504" ixz="-0.000024806" iyy="0.001409344" iyz="0.00022011" izz="0.002444554" />
+    </inertial>
+  </link>
+  <link name="arm_r_link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000776373 -0.000803696 0.191266219" />
+      <mass value="1.276" />
+      <inertia ixx="0.00240951" ixy="0.00004151" ixz="-0.000043111" iyy="0.002001148" iyz="-0.000064911" izz="0.001582656" />
+    </inertial>
+  </link>
+  <link name="arm_r_link6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.003932145 -0.000060365 0.000158935" />
+      <mass value="0.813" />
+      <inertia ixx="0.000509171" ixy="-0.000000892" ixz="-0.000001806" iyy="0.000667301" iyz="0.000000456" izz="0.000659162" />
+    </inertial>
+  </link>
+  <link name="arm_r_link7">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.052862978 -0.000632229 -0.00134628" />
+      <mass value="0.312" />
+      <inertia ixx="0.000432926" ixy="-0.000003941" ixz="0.000039746" iyy="0.000676021" iyz="0.000002882" izz="0.000450533" />
+    </inertial>
+  </link>
+  <link name="arm_r_end_link" />
+  <link name="gripper_l_camera_link" />
+  <link name="gripper_l_center_link" />
+  <link name="gripper_l_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="3.84872289645122E-06 -4.41448135187968E-05 0.0553867866771657" />
+      <mass value="0.953455976099042" />
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+    </inertial>
+  </link>
+  <link name="gripper_l_left_inner_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071221829 0.0187577877878552 2.21631403129407E-14" />
+      <mass value="0.0309052898336314" />
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+    </inertial>
+  </link>
+  <link name="gripper_l_left_outer_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071221892 0.0187577877882694 2.20960470526592E-14" />
+      <mass value="0.0309052898336316" />
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+    </inertial>
+  </link>
+  <link name="gripper_l_left_support_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0177925864232372 0.0354308985297288 -3.45319167880073E-05" />
+      <mass value="0.0828693338705683" />
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+    </inertial>
+  </link>
+  <link name="gripper_l_right_inner_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071211299 0.0187577877883374 2.11370080968728E-14" />
+      <mass value="0.0309052898336316" />
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+    </inertial>
+  </link>
+  <link name="gripper_l_right_outer_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071211989 0.0187577877891044 2.11409547592425E-14" />
+      <mass value="0.0309052898336314" />
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+    </inertial>
+  </link>
+  <link name="gripper_l_right_support_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0177925878352495 0.0354308970643828 -2.81887513877937E-08" />
+      <mass value="0.082869359674167" />
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+    </inertial>
+  </link>
+  <link name="gripper_r_camera_link" />
+  <link name="gripper_r_center_link" />
+  <link name="gripper_r_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="3.84872289645122E-06 -4.41448135187968E-05 0.0553867866771657" />
+      <mass value="0.953455976099042" />
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+    </inertial>
+  </link>
+  <link name="gripper_r_left_inner_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071221829 0.0187577877878552 2.21631403129407E-14" />
+      <mass value="0.0309052898336314" />
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+    </inertial>
+  </link>
+  <link name="gripper_r_left_outer_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071221892 0.0187577877882694 2.20960470526592E-14" />
+      <mass value="0.0309052898336316" />
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+    </inertial>
+  </link>
+  <link name="gripper_r_left_support_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0177925864232372 0.0354308985297288 -3.45319167880073E-05" />
+      <mass value="0.0828693338705683" />
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+    </inertial>
+  </link>
+  <link name="gripper_r_right_inner_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071211299 0.0187577877883374 2.11370080968728E-14" />
+      <mass value="0.0309052898336316" />
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+    </inertial>
+  </link>
+  <link name="gripper_r_right_outer_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071211989 0.0187577877891044 2.11409547592425E-14" />
+      <mass value="0.0309052898336314" />
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+    </inertial>
+  </link>
+  <link name="gripper_r_right_support_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0177925878352495 0.0354308970643828 -2.81887513877937E-08" />
+      <mass value="0.082869359674167" />
+      <inertia ixx="2.73957568837024E-05" ixy="7.04281063834988E-06" ixz="-9.62685216616108E-12" iyy="6.34803242941661E-06" iyz="1.28138996747735E-11" izz="2.83129239152281E-05" />
+    </inertial>
+  </link>
+  <joint name="idx01_body_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.102 0 0.144" />
+    <parent link="base_link" />
+    <child link="body_link1" />
+    <axis xyz="0 1 0" />
+    <limit effort="50" lower="-1.0822" upper="0.0001" velocity="1.21" />
+  </joint>
+  <joint name="idx02_body_joint2" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.36" />
+    <parent link="body_link1" />
+    <child link="body_link2" />
+    <axis xyz="0 1 0" />
+    <limit effort="50" lower="-0.0001" upper="2.653" velocity="1.21" />
+  </joint>
+  <joint name="idx03_body_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.38" />
+    <parent link="body_link2" />
+    <child link="body_link3" />
+    <axis xyz="0 1 0" />
+    <limit effort="50" lower="-1.907" upper="1.039" velocity="1.21" />
+  </joint>
+  <joint name="idx04_body_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="body_link3" />
+    <child link="body_link4" />
+    <axis xyz="1 0 0" />
+    <limit effort="50" lower="-0.4364" upper="0.4364" velocity="1.21" />
+  </joint>
+  <joint name="idx05_body_joint5" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.149" />
+    <parent link="body_link4" />
+    <child link="body_link5" />
+    <axis xyz="0 0 1" />
+    <limit effort="50" lower="-3.0456" upper="3.0456" velocity="1.21" />
+  </joint>
+  <joint name="idx20_arm_base_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 0" xyz="0.0 0.0 0.3085" />
+    <parent link="body_link5" />
+    <child link="arm_base_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="idx10_head_base_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.013 0 0.496" />
+    <parent link="body_link5" />
+    <child link="head_base_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="idx11_head_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.013 0 0.496" />
+    <parent link="body_link5" />
+    <child link="head_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="50" lower="-1.5708" upper="1.5708" velocity="2.5" />
+  </joint>
+  <joint name="idx12_head_joint2" type="revolute">
+    <origin rpy="0 0 0" xyz="0.03335 0 0.07" />
+    <parent link="head_link1" />
+    <child link="head_link2" />
+    <axis xyz="1 0 0" />
+    <limit effort="50" lower="-0.3491" upper="0.3491" velocity="2.5" />
+  </joint>
+  <joint name="idx13_head_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.03035 0 0" />
+    <parent link="head_link2" />
+    <child link="head_link3" />
+    <axis xyz="0 1 0" />
+    <limit effort="50" lower="-0.5236" upper="0.5236" velocity="2.5" />
+  </joint>
+  <joint name="idx100_chassis_base_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="base_link" />
+    <child link="chassis_link" />
+  </joint>
+  <joint name="idx111_chassis_lwheel_front_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.23 0.218 0.16675" />
+    <parent link="chassis_link" />
+    <child link="chassis_lwheel_front_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="15" lower="-2.97" upper="2.97" velocity="4.08" />
+  </joint>
+  <joint name="idx112_chassis_lwheel_front_joint2" type="continuous">
+    <origin rpy="0 0 0" xyz="0 -5E-05 -0.13675" />
+    <parent link="chassis_lwheel_front_link1" />
+    <child link="chassis_lwheel_front_link2" />
+    <axis xyz="0 1 0" />
+    <limit effort="8" lower="0" upper="0" velocity="20.9" />
+  </joint>
+  <joint name="idx131_chassis_rwheel_front_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.23 -0.218 0.16675" />
+    <parent link="chassis_link" />
+    <child link="chassis_rwheel_front_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="15" lower="-2.97" upper="2.97" velocity="4.08" />
+  </joint>
+  <joint name="idx132_chassis_rwheel_front_joint2" type="continuous">
+    <origin rpy="0 0 0" xyz="0 5E-05 -0.13675" />
+    <parent link="chassis_rwheel_front_link1" />
+    <child link="chassis_rwheel_front_link2" />
+    <axis xyz="0 1 0" />
+    <limit effort="8" lower="0" upper="0" velocity="20.9" />
+  </joint>
+  <joint name="idx141_chassis_rwheel_rear_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.23 -0.218 0.16675" />
+    <parent link="chassis_link" />
+    <child link="chassis_rwheel_rear_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="15" lower="-2.97" upper="2.97" velocity="4.08" />
+  </joint>
+  <joint name="idx142_chassis_rwheel_rear_joint2" type="continuous">
+    <origin rpy="0 0 0" xyz="0 5E-05 -0.13675" />
+    <parent link="chassis_rwheel_rear_link1" />
+    <child link="chassis_rwheel_rear_link2" />
+    <axis xyz="0 1 0" />
+    <limit effort="8" lower="0" upper="0" velocity="20.9" />
+  </joint>
+  <joint name="idx121_chassis_lwheel_rear_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.23 0.218 0.16675" />
+    <parent link="chassis_link" />
+    <child link="chassis_lwheel_rear_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="15" lower="-2.97" upper="2.97" velocity="4.08" />
+  </joint>
+  <joint name="idx122_chassis_lwheel_rear_joint2" type="continuous">
+    <origin rpy="0 0 0" xyz="0 -5E-05 -0.13675" />
+    <parent link="chassis_lwheel_rear_link1" />
+    <child link="chassis_lwheel_rear_link2" />
+    <axis xyz="0 1 0" />
+    <limit effort="8" lower="0" upper="0" velocity="20.9" />
+  </joint>
+  <joint name="idx21_arm_l_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.069" />
+    <parent link="arm_base_link" />
+    <child link="arm_l_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="108" lower="-3.0718" upper="3.0718" velocity="3.05" />
+  </joint>
+  <joint name="idx22_arm_l_joint2" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 0 0.1745" />
+    <parent link="arm_l_link1" />
+    <child link="arm_l_link2" />
+    <axis xyz="0 0 1" />
+    <limit effort="108" lower="-2.0595" upper="2.0595" velocity="3.05" />
+  </joint>
+  <joint name="idx23_arm_l_joint3" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0 0 0" />
+    <parent link="arm_l_link2" />
+    <child link="arm_l_link3" />
+    <axis xyz="0 0 1" />
+    <limit effort="35" lower="-3.0718" upper="3.0718" velocity="3.76" />
+  </joint>
+  <joint name="idx24_arm_l_joint4" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0.0105 0 0.332" />
+    <parent link="arm_l_link3" />
+    <child link="arm_l_link4" />
+    <axis xyz="0 0 1" />
+    <limit effort="35" lower="-2.4959" upper="1.0123" velocity="3.76" />
+  </joint>
+  <joint name="idx25_arm_l_joint5" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="-0.0105 0 0" />
+    <parent link="arm_l_link4" />
+    <child link="arm_l_link5" />
+    <axis xyz="0 0 1" />
+    <limit effort="35" lower="-3.0718" upper="3.0718" velocity="3.35" />
+  </joint>
+  <joint name="idx26_arm_l_joint6" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 0 0.278" />
+    <parent link="arm_l_link5" />
+    <child link="arm_l_link6" />
+    <axis xyz="0 0 1" />
+    <limit effort="18" lower="-1.0123" upper="1.0123" velocity="3.35" />
+  </joint>
+  <joint name="idx27_arm_l_joint7" type="revolute">
+    <origin rpy="1.5708 0 1.5708" xyz="0 0 0" />
+    <parent link="arm_l_link6" />
+    <child link="arm_l_link7" />
+    <axis xyz="0 0 1" />
+    <limit effort="18" lower="-1.5359" upper="1.5359" velocity="3.35" />
+  </joint>
+  <joint name="arm_l_end_joint" type="fixed">
+    <origin rpy="3.141592653589793 -1.5707963267948966 0" xyz="0.09 0.0 0.0" />
+    <parent link="arm_l_link7" />
+    <child link="arm_l_end_link" />
+  </joint>
+  <joint name="idx61_arm_r_joint1" type="revolute">
+    <origin rpy="3.141592653589793 0 0" xyz="0 0 -0.069" />
+    <parent link="arm_base_link" />
+    <child link="arm_r_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="108" lower="-3.0718" upper="3.0718" velocity="3.05" />
+  </joint>
+  <joint name="idx62_arm_r_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0.1745" />
+    <parent link="arm_r_link1" />
+    <child link="arm_r_link2" />
+    <axis xyz="0 0 1" />
+    <limit effort="108" lower="-2.0595" upper="2.0595" velocity="3.05" />
+  </joint>
+  <joint name="idx63_arm_r_joint3" type="revolute">
+    <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0" />
+    <parent link="arm_r_link2" />
+    <child link="arm_r_link3" />
+    <axis xyz="0 0 1" />
+    <limit effort="35" lower="-3.0718" upper="3.0718" velocity="3.76" />
+  </joint>
+  <joint name="idx64_arm_r_joint4" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.0105 0 0.332" />
+    <parent link="arm_r_link3" />
+    <child link="arm_r_link4" />
+    <axis xyz="0 0 1" />
+    <limit effort="35" lower="-2.4959" upper="1.0123" velocity="3.76" />
+  </joint>
+  <joint name="idx65_arm_r_joint5" type="revolute">
+    <origin rpy="-1.5707963267948966 0 0" xyz="-0.0105 0 0" />
+    <parent link="arm_r_link4" />
+    <child link="arm_r_link5" />
+    <axis xyz="0 0 1" />
+    <limit effort="35" lower="-3.0718" upper="3.0718" velocity="3.35" />
+  </joint>
+  <joint name="idx66_arm_r_joint6" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0.278" />
+    <parent link="arm_r_link5" />
+    <child link="arm_r_link6" />
+    <axis xyz="0 0 1" />
+    <limit effort="18" lower="-1.0123" upper="1.0123" velocity="3.35" />
+  </joint>
+  <joint name="idx67_arm_r_joint7" type="revolute">
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0" />
+    <parent link="arm_r_link6" />
+    <child link="arm_r_link7" />
+    <axis xyz="0 0 1" />
+    <limit effort="18" lower="-1.5359" upper="1.5359" velocity="3.35" />
+  </joint>
+  <joint name="arm_r_end_joint" type="fixed">
+    <origin rpy="3.141592653589793 -1.5707963267948966 0" xyz="0.09 0.0 0.0" />
+    <parent link="arm_r_link7" />
+    <child link="arm_r_end_link" />
+  </joint>
+  <joint name="idx30_gripper_l_camera_joint" type="fixed">
+    <origin rpy="0 0 1.5707963267948966" xyz="0 0 0.0" />
+    <parent link="arm_l_end_link" />
+    <child link="gripper_l_camera_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="idx51_gripper_l_base_joint" type="fixed">
+    <origin rpy="0 0 1.5707963267948966" xyz="0 0 0.007" />
+    <parent link="arm_l_end_link" />
+    <child link="gripper_l_base_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="idx52_gripper_l_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.185" />
+    <parent link="arm_l_end_link" />
+    <child link="gripper_l_center_link" />
+  </joint>
+  <joint name="idx31_gripper_l_inner_joint1" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.016 0 0.121" />
+    <parent link="gripper_l_base_link" />
+    <child link="gripper_l_left_inner_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="0" lower="-0.91" upper="0" velocity="0" />
+  </joint>
+  <joint name="idx32_gripper_l_outer_joint1" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.030141 0 0.10415" />
+    <parent link="gripper_l_base_link" />
+    <child link="gripper_l_left_outer_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="10" lower="-0.91" upper="0" velocity="10" />
+    <mimic joint="idx31_gripper_l_inner_joint1" multiplier="1" offset="0" />
+  </joint>
+  <joint name="idx33_gripper_l_left_support_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.040359 0.037365 0" />
+    <parent link="gripper_l_left_outer_link" />
+    <child link="gripper_l_left_support_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx31_gripper_l_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx34_gripper_l_inner_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.016 0 0.121" />
+    <parent link="gripper_l_base_link" />
+    <child link="gripper_l_right_inner_link" />
+    <axis xyz="0 0 1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx31_gripper_l_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx35_gripper_l_outer_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.030141 0 0.10415" />
+    <parent link="gripper_l_base_link" />
+    <child link="gripper_l_right_outer_link" />
+    <axis xyz="0 0 1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx31_gripper_l_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx36_gripper_l_right_support_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.040359 0.037365 0" />
+    <parent link="gripper_l_right_outer_link" />
+    <child link="gripper_l_right_support_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx31_gripper_l_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx70_gripper_r_camera_joint" type="fixed">
+    <origin rpy="0 0 1.5707963267948966" xyz="0 0 0.0" />
+    <parent link="arm_r_end_link" />
+    <child link="gripper_r_camera_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="idx91_gripper_r_base_joint" type="fixed">
+    <origin rpy="0 0 1.5707963267948966" xyz="0 0 0.007" />
+    <parent link="arm_r_end_link" />
+    <child link="gripper_r_base_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="idx92_gripper_r_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.185" />
+    <parent link="arm_r_end_link" />
+    <child link="gripper_r_center_link" />
+  </joint>
+  <joint name="idx71_gripper_r_inner_joint1" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.016 0 0.121" />
+    <parent link="gripper_r_base_link" />
+    <child link="gripper_r_left_inner_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="0" lower="-0.91" upper="0" velocity="0" />
+  </joint>
+  <joint name="idx72_gripper_r_outer_joint1" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.030141 0 0.10415" />
+    <parent link="gripper_r_base_link" />
+    <child link="gripper_r_left_outer_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="10" lower="-0.91" upper="0" velocity="10" />
+    <mimic joint="idx71_gripper_r_inner_joint1" multiplier="1" offset="0" />
+  </joint>
+  <joint name="idx73_gripper_r_left_support_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.040359 0.037365 0" />
+    <parent link="gripper_r_left_outer_link" />
+    <child link="gripper_r_left_support_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx71_gripper_r_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx74_gripper_r_inner_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.016 0 0.121" />
+    <parent link="gripper_r_base_link" />
+    <child link="gripper_r_right_inner_link" />
+    <axis xyz="0 0 1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx71_gripper_r_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx75_gripper_r_outer_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.030141 0 0.10415" />
+    <parent link="gripper_r_base_link" />
+    <child link="gripper_r_right_outer_link" />
+    <axis xyz="0 0 1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx71_gripper_r_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx76_gripper_r_right_support_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.040359 0.037365 0" />
+    <parent link="gripper_r_right_outer_link" />
+    <child link="gripper_r_right_support_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx71_gripper_r_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/inputs/human_hand/README.md b/inputs/human_hand/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..4388f866916df6f9efdc1023547074726493d161
--- /dev/null
+++ b/inputs/human_hand/README.md
@@ -0,0 +1,3 @@
+# Ego-human ACWMBench inference dataset
+
+Canonical 15 FPS bimanual human-hand trajectories. The active `top_head`, `hand_left`, and `hand_right` observations are rectified 640x480 pinhole images (90 degree HFOV, 38 degree downward pitch). Original images and calibration are retained in `observations/fisheye/` and `calibration_fisheye.json`. Physical controls remain unchanged; read `calibration.json` for the source-to-virtual rotation.
diff --git a/inputs/human_hand/hangtowel/ep000002/calibration.json b/inputs/human_hand/hangtowel/ep000002/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3796ceb07558fe267db75fbc9d0c0832110a8990
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000002/calibration.json
@@ -0,0 +1,506 @@
+{
+  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
+  "episode_index": 2,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
+      "source_camera": "head_fisheye",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Fx": 320.00000000000006,
+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_T_left": {
+          "rotation": {
+            "x": 0.0009442228132370642,
+            "y": 0.0002965523734030786,
+            "z": 2.7778272304765542e-05,
+            "w": 0.9999995098640481
+          },
+          "translation": {
+            "x": 0.03061258879177004,
+            "y": -0.00044053462609449333,
+            "z": 0.0010914965841121059
+          }
+        },
+        "extrinsic_head_fisheye_left_T_left": {
+          "rotation": {
+            "x": 0.00363868679823883,
+            "y": -0.42865062258823455,
+            "z": -0.19933934578868262,
+            "w": 0.8811976106036848
+          },
+          "translation": {
+            "x": -0.05050148006484744,
+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        },
+        "extrinsic_head_fisheye_right_T_left": {
+          "rotation": {
+            "x": 0.0003976459684297884,
+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
+          },
+          "translation": {
+            "x": 0.11023896172779998,
+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
+          }
+        }
+      },
+      "resolution": {
+        "width": 640,
+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
+          "Cx": 401.24334716796875,
+          "Cy": 299.5632019042969,
+          "Fx": 224.22935485839844,
+          "Fy": 224.09205627441406,
+          "height": 600,
+          "k1": 0.057993289083242416,
+          "k2": 0.01816844940185547,
+          "k3": -0.008063109591603279,
+          "k4": 0.0006919464212842286,
+          "width": 800
+        },
+        "source_to_virtual_rotation": [
+          [
+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.7880107536067219,
+            -0.6156614753256583
+          ],
+          [
+            0.0,
+            0.6156614753256583,
+            0.7880107536067219
+          ]
+        ],
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_left": {
+      "source_camera": "head_fisheye_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Fx": 320.00000000000006,
+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_left_T_left": {
+          "rotation": {
+            "x": 0.00363868679823883,
+            "y": -0.42865062258823455,
+            "z": -0.19933934578868262,
+            "w": 0.8811976106036848
+          },
+          "translation": {
+            "x": -0.05050148006484744,
+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        }
+      },
+      "resolution": {
+        "width": 640,
+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
+          "Cx": 479.4472961425781,
+          "Cy": 299.9506530761719,
+          "Fx": 223.04345703125,
+          "Fy": 223.11749267578125,
+          "height": 600,
+          "k1": 0.06008125841617584,
+          "k2": 0.015944620594382286,
+          "k3": -0.006167862098664045,
+          "k4": 0.00022500510385725647,
+          "width": 960
+        },
+        "source_to_virtual_rotation": [
+          [
+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.7880107536067219,
+            -0.6156614753256583
+          ],
+          [
+            0.0,
+            0.6156614753256583,
+            0.7880107536067219
+          ]
+        ],
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Fx": 320.00000000000006,
+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_right_T_left": {
+          "rotation": {
+            "x": 0.0003976459684297884,
+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
+          },
+          "translation": {
+            "x": 0.11023896172779998,
+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
+          }
+        }
+      },
+      "resolution": {
+        "width": 640,
+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
+          "Cx": 480.4215393066406,
+          "Cy": 299.4262390136719,
+          "Fx": 223.5740509033203,
+          "Fy": 223.46319580078125,
+          "height": 600,
+          "k1": 0.05835850164294243,
+          "k2": 0.017698010429739952,
+          "k3": -0.007227227091789246,
+          "k4": 0.0004160731041338295,
+          "width": 960
+        },
+        "source_to_virtual_rotation": [
+          [
+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.7880107536067219,
+            -0.6156614753256583
+          ],
+          [
+            0.0,
+            0.6156614753256583,
+            0.7880107536067219
+          ]
+        ],
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "head_stereo_left": {
+      "source_camera": "head_stereo_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Cx": 481.39990234375,
+        "Cy": 298.59674072265625,
+        "Fx": 300.0994873046875,
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+        "height": 600,
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+}
diff --git a/inputs/human_hand/hangtowel/ep000002/calibration_fisheye.json b/inputs/human_hand/hangtowel/ep000002/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..975609d14434c1fbe9ea1549872cd43559687d0e
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000002/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
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+  "episode_index": 2,
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diff --git a/inputs/human_hand/hangtowel/ep000002/trajectory.parquet b/inputs/human_hand/hangtowel/ep000002/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0c5b933ef6e5e4cf699ba14579b23064e46ae8e6
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000002/trajectory.parquet
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+version https://git-lfs.github.com/spec/v1
+oid sha256:cd41aaa11cfb88542b7e846eada8ab64e39b4e48ba0c71cbc06455819dada371
+size 7583555
diff --git a/inputs/human_hand/hangtowel/ep000007/calibration.json b/inputs/human_hand/hangtowel/ep000007/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e9ee12c33f37036595aaef34aaa537226711d47
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000007/calibration.json
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+}
diff --git a/inputs/human_hand/hangtowel/ep000007/calibration_fisheye.json b/inputs/human_hand/hangtowel/ep000007/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..de0a758a66bcde0fa173d856235f49a08b77a10b
--- /dev/null
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@@ -0,0 +1,386 @@
+{
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diff --git a/inputs/human_hand/hangtowel/ep000007/controls/action_57d_spec.json b/inputs/human_hand/hangtowel/ep000007/controls/action_57d_spec.json
new file mode 100644
index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000007/controls/action_57d_spec.json
@@ -0,0 +1,60 @@
+{
+  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
+  "width": 57,
+  "layout": [
+    {
+      "name": "camera_delta",
+      "indices": [
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+      "encoding": "xyz+rot6d"
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+      "encoding": "xyz+rot6d"
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+    {
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+  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
diff --git a/inputs/human_hand/hangtowel/ep000007/controls/hand_camera_poses.npz b/inputs/human_hand/hangtowel/ep000007/controls/hand_camera_poses.npz
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index 0000000000000000000000000000000000000000..7913cd3fbe6406b620142f21a44a969ba533e836
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diff --git a/inputs/human_hand/hangtowel/ep000007/metadata.json b/inputs/human_hand/hangtowel/ep000007/metadata.json
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index 0000000000000000000000000000000000000000..5dfa0f6c13a94290756e71566dd3d18bf378c9a7
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000007/metadata.json
@@ -0,0 +1,45 @@
+{
+  "schema_version": "acwmbench.inference.ego.v1",
+  "task_name": "hangtowel",
+  "episode_index": 7,
+  "episode_name": "ep000007",
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+  "num_transitions": 1844,
+  "seed_local_index": 0,
+  "embodiment": "ego_human_bimanual",
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+    "calibration": "calibration.json",
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+      "head_stereo_right": "observations/head_stereo_right.png"
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+      "hand_right": "observations/fisheye/hand_right.png"
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+}
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+}
diff --git a/inputs/human_hand/hangtowel/ep000007/trajectory.parquet b/inputs/human_hand/hangtowel/ep000007/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1218137a3a007be2ff404061fb3bb742bb65fc86
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000007/trajectory.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d90ce26f0fea6ee370ecf60b5ac24f2204f9d3f375440f75892cf27d67ba0458
+size 7699015
diff --git a/inputs/human_hand/hangtowel/ep000008/calibration.json b/inputs/human_hand/hangtowel/ep000008/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d56464c13a0e31f93437fff6c751aac2426aaa5
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000008/calibration.json
@@ -0,0 +1,506 @@
+{
+  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
+  "episode_index": 8,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
+      "source_camera": "head_fisheye",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Fx": 320.00000000000006,
+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_T_left": {
+          "rotation": {
+            "x": 0.0009442228132370642,
+            "y": 0.0002965523734030786,
+            "z": 2.7778272304765542e-05,
+            "w": 0.9999995098640481
+          },
+          "translation": {
+            "x": 0.03061258879177004,
+            "y": -0.00044053462609449333,
+            "z": 0.0010914965841121059
+          }
+        },
+        "extrinsic_head_fisheye_left_T_left": {
+          "rotation": {
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+            "y": -0.42865062258823455,
+            "z": -0.19933934578868262,
+            "w": 0.8811976106036848
+          },
+          "translation": {
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+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        },
+        "extrinsic_head_fisheye_right_T_left": {
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+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
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+            "z": -0.02812516971803584
+          }
+        }
+      },
+      "resolution": {
+        "width": 640,
+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
+          "Cx": 401.24334716796875,
+          "Cy": 299.5632019042969,
+          "Fx": 224.22935485839844,
+          "Fy": 224.09205627441406,
+          "height": 600,
+          "k1": 0.057993289083242416,
+          "k2": 0.01816844940185547,
+          "k3": -0.008063109591603279,
+          "k4": 0.0006919464212842286,
+          "width": 800
+        },
+        "source_to_virtual_rotation": [
+          [
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+            0.0
+          ],
+          [
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+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_left": {
+      "source_camera": "head_fisheye_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Fx": 320.00000000000006,
+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_left_T_left": {
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+            "y": -0.42865062258823455,
+            "z": -0.19933934578868262,
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+            "z": -0.028958392523767598
+          }
+        }
+      },
+      "resolution": {
+        "width": 640,
+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
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+          "Cy": 299.9506530761719,
+          "Fx": 223.04345703125,
+          "Fy": 223.11749267578125,
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+        "source_to_virtual_rotation": [
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+            0.0
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+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
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+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
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+      "resolution": {
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+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
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+            0.0
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+          [
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+            0.7880107536067219
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+        ],
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "head_stereo_left": {
+      "source_camera": "head_stereo_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "k4": 0.008368264883756638,
+        "width": 960
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+        },
+        "extrinsic_head_stereo_left_T_right": {
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+            "y": 0.0010112171798395235,
+            "z": -0.0002191893102376494,
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+            "y": -0.00012716207060800203,
+            "z": -0.00025589655066818193
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_right": {
+      "source_camera": "head_stereo_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "Cy": 300.6904602050781,
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+            "z": -0.002624102731710321,
+            "w": -0.006305158409659226
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+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    }
+  },
+  "source_calibration": {
+    "extrinsic_head_fisheye_T_left": {
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+        "y": 0.0002965523734030786,
+        "z": 2.7778272304765542e-05,
+        "w": 0.9999995098640481
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+        "y": -0.00044053462609449333,
+        "z": 0.0010914965841121059
+      }
+    },
+    "extrinsic_head_fisheye_left_T_left": {
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+    "extrinsic_head_fisheye_right_T_left": {
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+    "extrinsic_head_stereo_left_T_imu": {
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+        "y": -0.005711054071957077,
+        "z": -0.0016198635801491547,
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+        "z": -0.017029698432489374
+      }
+    },
+    "extrinsic_head_stereo_left_T_right": {
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+        "z": -0.0002191893102376494,
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+        "z": -0.00025589655066818193
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+    },
+    "extrinsic_head_stereo_right_T_imu": {
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+        "y": -0.0059275519736941866,
+        "z": -0.002624102731710321,
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+        "y": -0.005074571574618962,
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+    },
+    "intrinsic_head_fisheye": {
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+      "Cy": 299.5632019042969,
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+      "gyro_n": 0.0008512645105958214,
+      "gyro_w": 8.042016530226203e-06,
+      "timeshift_fisheye_cam_imu": 0.0032943932938084845
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+    "intrinsic_head_stereo_left": {
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+    "suppiler_flag": {
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+      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
+      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
+      "head_stereo_left": "383100008901V01AA1VA069126071000489",
+      "head_stereo_right": "383100008901V01AA1VA069126071000489",
+      "suppiler": 0
+    }
+  },
+  "source_calibration_file": "calibration_fisheye.json",
+  "active_views": {
+    "top_head": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_left": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_right": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    }
+  }
+}
diff --git a/inputs/human_hand/hangtowel/ep000008/calibration_fisheye.json b/inputs/human_hand/hangtowel/ep000008/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cee50840d98f1f79afee72b584c227b33767b94
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000008/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
+  "schema_version": "acwmbench.ego.calibration.v1",
+  "episode_index": 8,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
+      "source_camera": "head_fisheye",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
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+        "Cy": 299.5632019042969,
+        "Fx": 224.22935485839844,
+        "Fy": 224.09205627441406,
+        "height": 600,
+        "k1": 0.057993289083242416,
+        "k2": 0.01816844940185547,
+        "k3": -0.008063109591603279,
+        "k4": 0.0006919464212842286,
+        "width": 800
+      },
+      "extrinsics": {
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+            "z": 2.7778272304765542e-05,
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+            "y": -0.00044053462609449333,
+            "z": 0.0010914965841121059
+          }
+        },
+        "extrinsic_head_fisheye_left_T_left": {
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+            "y": -0.42865062258823455,
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+            "w": 0.8811976106036848
+          },
+          "translation": {
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+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        },
+        "extrinsic_head_fisheye_right_T_left": {
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+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
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+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
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+        }
+      },
+      "resolution": {
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+        "height": 600
+      }
+    },
+    "hand_left": {
+      "source_camera": "head_fisheye_left",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
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+        "Cy": 299.9506530761719,
+        "Fx": 223.04345703125,
+        "Fy": 223.11749267578125,
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+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_left_T_left": {
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+            "y": -0.42865062258823455,
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+            "w": 0.8811976106036848
+          },
+          "translation": {
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+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
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+        "Cy": 299.4262390136719,
+        "Fx": 223.5740509033203,
+        "Fy": 223.46319580078125,
+        "height": 600,
+        "k1": 0.05835850164294243,
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+        "k3": -0.007227227091789246,
+        "k4": 0.0004160731041338295,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_right_T_left": {
+          "rotation": {
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+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
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+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_left": {
+      "source_camera": "head_stereo_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "Cy": 298.59674072265625,
+        "Fx": 300.0994873046875,
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+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_left_T_imu": {
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+            "z": -0.0016198635801491547,
+            "w": -0.004895717855982548
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+            "y": -0.0042354069095445705,
+            "z": -0.017029698432489374
+          }
+        },
+        "extrinsic_head_stereo_left_T_right": {
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+            "y": 0.0010112171798395235,
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+            "z": -0.00025589655066818193
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+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_right": {
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+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "Cy": 300.6904602050781,
+        "Fx": 300.04974365234375,
+        "Fy": 299.9335632324219,
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+      },
+      "extrinsics": {
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+            "y": -0.005074571574618962,
+            "z": -0.01760922065052973
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diff --git a/inputs/human_hand/hangtowel/ep000008/controls/action_57d_spec.json b/inputs/human_hand/hangtowel/ep000008/controls/action_57d_spec.json
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index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
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+{
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+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
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+{
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diff --git a/inputs/human_hand/hangtowel/ep000008/trajectory.parquet b/inputs/human_hand/hangtowel/ep000008/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f706b7fa64c469a897c972b7ff2a91d29208b5ba
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000008/trajectory.parquet
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+version https://git-lfs.github.com/spec/v1
+oid sha256:19f9fb70c9350e5a6693e0684988e2f60f5d801b8e8708c5abbf85f58de3afcc
+size 7822217
diff --git a/inputs/human_hand/hangtowel/ep000011/calibration.json b/inputs/human_hand/hangtowel/ep000011/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d52994ad690301cca9b1027e2ed05b5217bad16a
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000011/calibration.json
@@ -0,0 +1,506 @@
+{
+  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
+  "episode_index": 11,
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+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
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+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
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+  "source_calibration_file": "calibration_fisheye.json",
+  "active_views": {
+    "top_head": {
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+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_left": {
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+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
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+    },
+    "hand_right": {
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+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    }
+  }
+}
diff --git a/inputs/human_hand/hangtowel/ep000011/calibration_fisheye.json b/inputs/human_hand/hangtowel/ep000011/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..25a01991e1c7795ce54e58a77d5a69920b58fed0
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000011/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
+  "schema_version": "acwmbench.ego.calibration.v1",
+  "episode_index": 11,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
+      "source_camera": "head_fisheye",
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+    "hand_right": {
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+  },
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+    "suppiler_flag": {
+      "head_fisheye": "383100008901V01AA1VA069126071000489",
+      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
+      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
+      "head_stereo_left": "383100008901V01AA1VA069126071000489",
+      "head_stereo_right": "383100008901V01AA1VA069126071000489",
+      "suppiler": 0
+    }
+  }
+}
diff --git a/inputs/human_hand/hangtowel/ep000011/controls/action_57d_spec.json b/inputs/human_hand/hangtowel/ep000011/controls/action_57d_spec.json
new file mode 100644
index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000011/controls/action_57d_spec.json
@@ -0,0 +1,60 @@
+{
+  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
+  "width": 57,
+  "layout": [
+    {
+      "name": "camera_delta",
+      "indices": [
+        0,
+        9
+      ],
+      "encoding": "xyz+rot6d"
+    },
+    {
+      "name": "right_wrist_world_delta",
+      "indices": [
+        9,
+        18
+      ],
+      "encoding": "xyz+rot6d"
+    },
+    {
+      "name": "right_fingertips_in_wrist",
+      "indices": [
+        18,
+        33
+      ],
+      "joint_indices": [
+        4,
+        8,
+        12,
+        16,
+        20
+      ]
+    },
+    {
+      "name": "left_wrist_world_delta",
+      "indices": [
+        33,
+        42
+      ],
+      "encoding": "xyz+rot6d"
+    },
+    {
+      "name": "left_fingertips_in_wrist",
+      "indices": [
+        42,
+        57
+      ],
+      "joint_indices": [
+        4,
+        8,
+        12,
+        16,
+        20
+      ]
+    }
+  ],
+  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
diff --git a/inputs/human_hand/hangtowel/ep000011/controls/hand_camera_poses.npz b/inputs/human_hand/hangtowel/ep000011/controls/hand_camera_poses.npz
new file mode 100644
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+}
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diff --git a/inputs/human_hand/hangtowel/ep000015/calibration.json b/inputs/human_hand/hangtowel/ep000015/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf40a8088139210ef9e6f8b0bf49179e697bcc6a
--- /dev/null
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+}
diff --git a/inputs/human_hand/hangtowel/ep000015/calibration_fisheye.json b/inputs/human_hand/hangtowel/ep000015/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..baf6227fccac2d5d9be41558f4c99e98dac1ad33
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000015/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
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diff --git a/inputs/human_hand/hangtowel/ep000015/controls/action_57d_spec.json b/inputs/human_hand/hangtowel/ep000015/controls/action_57d_spec.json
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index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
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+{
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+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
diff --git a/inputs/human_hand/hangtowel/ep000015/controls/hand_camera_poses.npz b/inputs/human_hand/hangtowel/ep000015/controls/hand_camera_poses.npz
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index 0000000000000000000000000000000000000000..b5ce8921f02dd7c24ab6687df09a889451691421
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+++ b/inputs/human_hand/hangtowel/ep000015/metadata.json
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+{
+  "schema_version": "acwmbench.inference.ego.v1",
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+}
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+{
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+}
diff --git a/inputs/human_hand/hangtowel/ep000015/source_map.json b/inputs/human_hand/hangtowel/ep000015/source_map.json
new file mode 100644
index 0000000000000000000000000000000000000000..768c1c8ab6b841986a8eb33796b7f6c5be191901
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000015/source_map.json
@@ -0,0 +1,1923 @@
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diff --git a/inputs/human_hand/hangtowel/ep000015/trajectory.parquet b/inputs/human_hand/hangtowel/ep000015/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2a87fad21e777632873a5aeb77846910953c848d
--- /dev/null
+++ b/inputs/human_hand/hangtowel/ep000015/trajectory.parquet
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+version https://git-lfs.github.com/spec/v1
+oid sha256:754676e8731758e8c6f87c19c5f4d4a0b59ca4e769a27dccc02fc1043f00c32b
+size 7765515
diff --git a/inputs/human_hand/hangtowel/schema.json b/inputs/human_hand/hangtowel/schema.json
new file mode 100644
index 0000000000000000000000000000000000000000..79d4df66d2c3797ecd9aaf82a4532c96448e0559
--- /dev/null
+++ b/inputs/human_hand/hangtowel/schema.json
@@ -0,0 +1,558 @@
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+        },
+        "hand_state/right/valid": {
+          "description": "right hand valid",
+          "dimensions": 1,
+          "indices": [
+            295
+          ]
+        },
+        "head_camera/orientation": {
+          "description": "camera-to-world XYZW quaternion",
+          "dimensions": 4,
+          "indices": [
+            296,
+            297,
+            298,
+            299
+          ]
+        },
+        "head_camera/position": {
+          "description": "camera-to-world XYZ position",
+          "dimensions": 3,
+          "indices": [
+            300,
+            301,
+            302
+          ]
+        },
+        "head_camera/valid": {
+          "description": "camera pose valid",
+          "dimensions": 1,
+          "indices": [
+            303
+          ]
+        }
+      }
+    },
+    "observation.aux": {
+      "dtype": "float32",
+      "shape": [
+        19
+      ]
+    },
+    "observation.source_state": {
+      "dtype": "float32",
+      "shape": [
+        635
+      ]
+    }
+  },
+  "views": {
+    "top_head": {
+      "source": "head_fisheye",
+      "mount": "head",
+      "compatibility_alias": true,
+      "active_projection": {
+        "model": "pinhole",
+        "width": 640,
+        "height": 480,
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "source_model": "opencv_fisheye",
+        "source_backup": {
+          "gt": "video/fisheye/<view>",
+          "inference": "observations/fisheye/<view>.png"
+        }
+      },
+      "source_projection": "opencv_fisheye"
+    },
+    "hand_left": {
+      "source": "head_fisheye_left",
+      "mount": "head",
+      "compatibility_alias": true,
+      "active_projection": {
+        "model": "pinhole",
+        "width": 640,
+        "height": 480,
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "source_model": "opencv_fisheye",
+        "source_backup": {
+          "gt": "video/fisheye/<view>",
+          "inference": "observations/fisheye/<view>.png"
+        }
+      },
+      "source_projection": "opencv_fisheye"
+    },
+    "hand_right": {
+      "source": "head_fisheye_right",
+      "mount": "head",
+      "compatibility_alias": true,
+      "active_projection": {
+        "model": "pinhole",
+        "width": 640,
+        "height": 480,
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "source_model": "opencv_fisheye",
+        "source_backup": {
+          "gt": "video/fisheye/<view>",
+          "inference": "observations/fisheye/<view>.png"
+        }
+      },
+      "source_projection": "opencv_fisheye"
+    },
+    "head_stereo_left": {
+      "source": "head_stereo_left",
+      "mount": "head",
+      "compatibility_alias": false
+    },
+    "head_stereo_right": {
+      "source": "head_stereo_right",
+      "mount": "head",
+      "compatibility_alias": false
+    }
+  },
+  "active_projection": {
+    "model": "pinhole",
+    "width": 640,
+    "height": 480,
+    "hfov_deg": 90.0,
+    "view_pitch_deg": 38.0,
+    "source_model": "opencv_fisheye",
+    "source_backup": {
+      "gt": "video/fisheye/<view>",
+      "inference": "observations/fisheye/<view>.png"
+    }
+  }
+}
diff --git a/inputs/human_hand/pickfruit/ep000006/calibration.json b/inputs/human_hand/pickfruit/ep000006/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..867b045d09e472eaba71b1b350510d1b2a6cfc6d
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000006/calibration.json
@@ -0,0 +1,506 @@
+{
+  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
+  "episode_index": 6,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
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+      "camera_mount": "head",
+      "projection_model": "pinhole",
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+        "Fy": 320.00000000000006,
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+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
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+            "z": 2.7778272304765542e-05,
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+            "y": -0.00044053462609449333,
+            "z": 0.0010914965841121059
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+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
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+        "extrinsic_head_fisheye_right_T_left": {
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+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
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+      "resolution": {
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+        "height": 480
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+      "rectification": {
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+          "width": 800
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+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_left": {
+      "source_camera": "head_fisheye_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_left_T_left": {
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+            "y": -0.42865062258823455,
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+            "w": 0.8811976106036848
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+            "z": -0.028958392523767598
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+      "resolution": {
+        "width": 640,
+        "height": 480
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+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
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+          "Cy": 299.9506530761719,
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+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "width": 640,
+        "height": 480
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+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "head_stereo_left": {
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+      "camera_mount": "head",
+      "projection_model": "pinhole",
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+        "width": 960
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+        "height": 600
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+    "head_stereo_right": {
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+      "camera_mount": "head",
+      "projection_model": "pinhole",
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+      "resolution": {
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+        "height": 600
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+      "head_stereo_left": "383100008901V01AA1VA069126071000489",
+      "head_stereo_right": "383100008901V01AA1VA069126071000489",
+      "suppiler": 0
+    }
+  },
+  "source_calibration_file": "calibration_fisheye.json",
+  "active_views": {
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+      "width": 640,
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+}
diff --git a/inputs/human_hand/pickfruit/ep000006/calibration_fisheye.json b/inputs/human_hand/pickfruit/ep000006/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..09d3e908ae81d94f2e40c5b712098bef7c33e486
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000006/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
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+}
diff --git a/inputs/human_hand/pickfruit/ep000006/controls/action_57d_spec.json b/inputs/human_hand/pickfruit/ep000006/controls/action_57d_spec.json
new file mode 100644
index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000006/controls/action_57d_spec.json
@@ -0,0 +1,60 @@
+{
+  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
+  "width": 57,
+  "layout": [
+    {
+      "name": "camera_delta",
+      "indices": [
+        0,
+        9
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+      "encoding": "xyz+rot6d"
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+      "encoding": "xyz+rot6d"
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+      "encoding": "xyz+rot6d"
+    },
+    {
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+  ],
+  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
diff --git a/inputs/human_hand/pickfruit/ep000006/controls/hand_camera_poses.npz b/inputs/human_hand/pickfruit/ep000006/controls/hand_camera_poses.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4ee291949d50f989cdb85a6c3a0cafa999160ab5
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000006/controls/hand_camera_poses.npz
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+version https://git-lfs.github.com/spec/v1
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diff --git a/inputs/human_hand/pickfruit/ep000006/metadata.json b/inputs/human_hand/pickfruit/ep000006/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cccacfe7de574759f8fe697c4ef16900e5bb1c3a
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000006/metadata.json
@@ -0,0 +1,45 @@
+{
+  "schema_version": "acwmbench.inference.ego.v1",
+  "task_name": "pickfruit",
+  "episode_index": 6,
+  "episode_name": "ep000006",
+  "fps": 15.0,
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+  "num_transitions": 1828,
+  "seed_local_index": 0,
+  "embodiment": "ego_human_bimanual",
+  "files": {
+    "trajectory": "trajectory.parquet",
+    "calibration": "calibration.json",
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+      "hand_right": "observations/hand_right.png",
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+      "head_stereo_right": "observations/head_stereo_right.png"
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+      "action_57d_spec": "controls/action_57d_spec.json"
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+      "hand_left": "observations/fisheye/hand_left.png",
+      "hand_right": "observations/fisheye/hand_right.png"
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+  }
+}
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+}
diff --git a/inputs/human_hand/pickfruit/ep000006/trajectory.parquet b/inputs/human_hand/pickfruit/ep000006/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d01a69d40f7a66992d10eb7d3ba021c03a363bef
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000006/trajectory.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64b7fdc432941992d5cd20be1189c7cf2d9dd4d6fca421fb5fcea199aed65ee9
+size 7575943
diff --git a/inputs/human_hand/pickfruit/ep000017/calibration.json b/inputs/human_hand/pickfruit/ep000017/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b61af542bee5b3c09c83ac1bc7955de65e86a832
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000017/calibration.json
@@ -0,0 +1,506 @@
+{
+  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
+  "episode_index": 17,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
+      "source_camera": "head_fisheye",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_T_left": {
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+            "y": 0.0002965523734030786,
+            "z": 2.7778272304765542e-05,
+            "w": 0.9999995098640481
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+            "y": -0.00044053462609449333,
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+        "extrinsic_head_fisheye_left_T_left": {
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+            "z": -0.028958392523767598
+          }
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+        "height": 480
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+      "rectification": {
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+        "source_intrinsics": {
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+          "Cy": 299.5632019042969,
+          "Fx": 224.22935485839844,
+          "Fy": 224.09205627441406,
+          "height": 600,
+          "k1": 0.057993289083242416,
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+          "k3": -0.008063109591603279,
+          "k4": 0.0006919464212842286,
+          "width": 800
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+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_left": {
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+        "width": 640,
+        "height": 480
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+            "z": -0.028958392523767598
+          }
+        }
+      },
+      "resolution": {
+        "width": 640,
+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
+          "Cx": 479.4472961425781,
+          "Cy": 299.9506530761719,
+          "Fx": 223.04345703125,
+          "Fy": 223.11749267578125,
+          "height": 600,
+          "k1": 0.06008125841617584,
+          "k2": 0.015944620594382286,
+          "k3": -0.006167862098664045,
+          "k4": 0.00022500510385725647,
+          "width": 960
+        },
+        "source_to_virtual_rotation": [
+          [
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+            0.0,
+            0.0
+          ],
+          [
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+          [
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+            0.6156614753256583,
+            0.7880107536067219
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+        ],
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Fx": 320.00000000000006,
+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_right_T_left": {
+          "rotation": {
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+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
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+          "translation": {
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+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
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+        }
+      },
+      "resolution": {
+        "width": 640,
+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
+          "Cx": 480.4215393066406,
+          "Cy": 299.4262390136719,
+          "Fx": 223.5740509033203,
+          "Fy": 223.46319580078125,
+          "height": 600,
+          "k1": 0.05835850164294243,
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+          "k3": -0.007227227091789246,
+          "k4": 0.0004160731041338295,
+          "width": 960
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+        "source_to_virtual_rotation": [
+          [
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+            0.0,
+            0.0
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+          [
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+            0.7880107536067219,
+            -0.6156614753256583
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+          [
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+            0.6156614753256583,
+            0.7880107536067219
+          ]
+        ],
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "head_stereo_left": {
+      "source_camera": "head_stereo_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "Cy": 298.59674072265625,
+        "Fx": 300.0994873046875,
+        "Fy": 300.0945129394531,
+        "height": 600,
+        "k1": 0.23313209414482117,
+        "k2": -0.013054169714450836,
+        "k3": -0.02656524069607258,
+        "k4": 0.008368264883756638,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_left_T_imu": {
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+            "y": -0.005711054071957077,
+            "z": -0.0016198635801491547,
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+            "y": -0.0042354069095445705,
+            "z": -0.017029698432489374
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+        },
+        "extrinsic_head_stereo_left_T_right": {
+          "rotation": {
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+            "y": 0.0010112171798395235,
+            "z": -0.0002191893102376494,
+            "w": 0.9999984789911828
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+            "y": -0.00012716207060800203,
+            "z": -0.00025589655066818193
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_right": {
+      "source_camera": "head_stereo_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Cx": 480.90869140625,
+        "Cy": 300.6904602050781,
+        "Fx": 300.04974365234375,
+        "Fy": 299.9335632324219,
+        "height": 600,
+        "k1": 0.23226110637187958,
+        "k2": -0.01877696067094803,
+        "k3": -0.019749220460653305,
+        "k4": 0.00620193500071764,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_right_T_imu": {
+          "rotation": {
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+            "y": -0.0059275519736941866,
+            "z": -0.002624102731710321,
+            "w": -0.006305158409659226
+          },
+          "translation": {
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+            "y": -0.005074571574618962,
+            "z": -0.01760922065052973
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    }
+  },
+  "source_calibration": {
+    "extrinsic_head_fisheye_T_left": {
+      "rotation": {
+        "x": 0.0009442228132370642,
+        "y": 0.0002965523734030786,
+        "z": 2.7778272304765542e-05,
+        "w": 0.9999995098640481
+      },
+      "translation": {
+        "x": 0.03061258879177004,
+        "y": -0.00044053462609449333,
+        "z": 0.0010914965841121059
+      }
+    },
+    "extrinsic_head_fisheye_left_T_left": {
+      "rotation": {
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+        "y": -0.42865062258823455,
+        "z": -0.19933934578868262,
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+        "y": 0.014694437626401657,
+        "z": -0.028958392523767598
+      }
+    },
+    "extrinsic_head_fisheye_right_T_left": {
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+        "y": 0.42641808299703304,
+        "z": 0.20065156149051988,
+        "w": 0.8819900289925252
+      },
+      "translation": {
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+        "y": 0.013827394575498546,
+        "z": -0.02812516971803584
+      }
+    },
+    "extrinsic_head_stereo_left_T_imu": {
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+        "y": -0.005711054071957077,
+        "z": -0.0016198635801491547,
+        "w": -0.004895717855982548
+      },
+      "translation": {
+        "x": 0.004417393018733836,
+        "y": -0.0042354069095445705,
+        "z": -0.017029698432489374
+      }
+    },
+    "extrinsic_head_stereo_left_T_right": {
+      "rotation": {
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+        "y": 0.0010112171798395235,
+        "z": -0.0002191893102376494,
+        "w": 0.9999984789911828
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+        "y": -0.00012716207060800203,
+        "z": -0.00025589655066818193
+      }
+    },
+    "extrinsic_head_stereo_right_T_imu": {
+      "rotation": {
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+        "y": -0.0059275519736941866,
+        "z": -0.002624102731710321,
+        "w": -0.006305158409659226
+      },
+      "translation": {
+        "x": 0.06491403504737772,
+        "y": -0.005074571574618962,
+        "z": -0.01760922065052973
+      }
+    },
+    "intrinsic_head_fisheye": {
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+      "Cy": 299.5632019042969,
+      "Fx": 224.22935485839844,
+      "Fy": 224.09205627441406,
+      "height": 600,
+      "k1": 0.057993289083242416,
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+      "k3": -0.008063109591603279,
+      "k4": 0.0006919464212842286,
+      "width": 800
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+    "intrinsic_head_fisheye_left": {
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+      "width": 960
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+    "intrinsic_head_imu": {
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+      "acc_w": 2.9547641343712726e-05,
+      "gyro_n": 0.0008512645105958214,
+      "gyro_w": 8.042016530226203e-06,
+      "timeshift_fisheye_cam_imu": 0.0032943932938084845
+    },
+    "intrinsic_head_stereo_left": {
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+    },
+    "suppiler_flag": {
+      "head_fisheye": "383100008901V01AA1VA069126071000489",
+      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
+      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
+      "head_stereo_left": "383100008901V01AA1VA069126071000489",
+      "head_stereo_right": "383100008901V01AA1VA069126071000489",
+      "suppiler": 0
+    }
+  },
+  "source_calibration_file": "calibration_fisheye.json",
+  "active_views": {
+    "top_head": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_left": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_right": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    }
+  }
+}
diff --git a/inputs/human_hand/pickfruit/ep000017/calibration_fisheye.json b/inputs/human_hand/pickfruit/ep000017/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e8b94c14d2e22539b057fd219195a56b5fe5dbb
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000017/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
+  "schema_version": "acwmbench.ego.calibration.v1",
+  "episode_index": 17,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
+      "source_camera": "head_fisheye",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
+        "Cx": 401.24334716796875,
+        "Cy": 299.5632019042969,
+        "Fx": 224.22935485839844,
+        "Fy": 224.09205627441406,
+        "height": 600,
+        "k1": 0.057993289083242416,
+        "k2": 0.01816844940185547,
+        "k3": -0.008063109591603279,
+        "k4": 0.0006919464212842286,
+        "width": 800
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_T_left": {
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+            "y": 0.0002965523734030786,
+            "z": 2.7778272304765542e-05,
+            "w": 0.9999995098640481
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+          "translation": {
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+            "y": -0.00044053462609449333,
+            "z": 0.0010914965841121059
+          }
+        },
+        "extrinsic_head_fisheye_left_T_left": {
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+            "y": -0.42865062258823455,
+            "z": -0.19933934578868262,
+            "w": 0.8811976106036848
+          },
+          "translation": {
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+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        },
+        "extrinsic_head_fisheye_right_T_left": {
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+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
+          },
+          "translation": {
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+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
+          }
+        }
+      },
+      "resolution": {
+        "width": 800,
+        "height": 600
+      }
+    },
+    "hand_left": {
+      "source_camera": "head_fisheye_left",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
+        "Cx": 479.4472961425781,
+        "Cy": 299.9506530761719,
+        "Fx": 223.04345703125,
+        "Fy": 223.11749267578125,
+        "height": 600,
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+        "k2": 0.015944620594382286,
+        "k3": -0.006167862098664045,
+        "k4": 0.00022500510385725647,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_left_T_left": {
+          "rotation": {
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+            "y": -0.42865062258823455,
+            "z": -0.19933934578868262,
+            "w": 0.8811976106036848
+          },
+          "translation": {
+            "x": -0.05050148006484744,
+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
+        "Cx": 480.4215393066406,
+        "Cy": 299.4262390136719,
+        "Fx": 223.5740509033203,
+        "Fy": 223.46319580078125,
+        "height": 600,
+        "k1": 0.05835850164294243,
+        "k2": 0.017698010429739952,
+        "k3": -0.007227227091789246,
+        "k4": 0.0004160731041338295,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_right_T_left": {
+          "rotation": {
+            "x": 0.0003976459684297884,
+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
+          },
+          "translation": {
+            "x": 0.11023896172779998,
+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_left": {
+      "source_camera": "head_stereo_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Cx": 481.39990234375,
+        "Cy": 298.59674072265625,
+        "Fx": 300.0994873046875,
+        "Fy": 300.0945129394531,
+        "height": 600,
+        "k1": 0.23313209414482117,
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+        "k4": 0.008368264883756638,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_left_T_imu": {
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+            "y": -0.005711054071957077,
+            "z": -0.0016198635801491547,
+            "w": -0.004895717855982548
+          },
+          "translation": {
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+            "y": -0.0042354069095445705,
+            "z": -0.017029698432489374
+          }
+        },
+        "extrinsic_head_stereo_left_T_right": {
+          "rotation": {
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+            "y": 0.0010112171798395235,
+            "z": -0.0002191893102376494,
+            "w": 0.9999984789911828
+          },
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+            "y": -0.00012716207060800203,
+            "z": -0.00025589655066818193
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_right": {
+      "source_camera": "head_stereo_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Cx": 480.90869140625,
+        "Cy": 300.6904602050781,
+        "Fx": 300.04974365234375,
+        "Fy": 299.9335632324219,
+        "height": 600,
+        "k1": 0.23226110637187958,
+        "k2": -0.01877696067094803,
+        "k3": -0.019749220460653305,
+        "k4": 0.00620193500071764,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_right_T_imu": {
+          "rotation": {
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+            "y": -0.0059275519736941866,
+            "z": -0.002624102731710321,
+            "w": -0.006305158409659226
+          },
+          "translation": {
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+            "y": -0.005074571574618962,
+            "z": -0.01760922065052973
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    }
+  },
+  "source_calibration": {
+    "extrinsic_head_fisheye_T_left": {
+      "rotation": {
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index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
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+{
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+++ b/inputs/human_hand/pickfruit/ep000017/metadata.json
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+{
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diff --git a/inputs/human_hand/pickfruit/ep000017/trajectory.parquet b/inputs/human_hand/pickfruit/ep000017/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1e369c6b26103b2557ea33d636af3112b880c688
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000017/trajectory.parquet
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+version https://git-lfs.github.com/spec/v1
+oid sha256:0fc2a585b894a33d151efa1bf592da59b80f4956660bc0912ce727687eea3a66
+size 7728097
diff --git a/inputs/human_hand/pickfruit/ep000022/calibration.json b/inputs/human_hand/pickfruit/ep000022/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..81df536f49df7d85f4b23450114dc72d86bdb1dd
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000022/calibration.json
@@ -0,0 +1,506 @@
+{
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diff --git a/inputs/human_hand/pickfruit/ep000022/calibration_fisheye.json b/inputs/human_hand/pickfruit/ep000022/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ac467fdb87f2cbfc1de843f3570fe3cd7270e13
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000022/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
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diff --git a/inputs/human_hand/pickfruit/ep000022/controls/action_57d_spec.json b/inputs/human_hand/pickfruit/ep000022/controls/action_57d_spec.json
new file mode 100644
index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000022/controls/action_57d_spec.json
@@ -0,0 +1,60 @@
+{
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+  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
diff --git a/inputs/human_hand/pickfruit/ep000022/controls/hand_camera_poses.npz b/inputs/human_hand/pickfruit/ep000022/controls/hand_camera_poses.npz
new file mode 100644
index 0000000000000000000000000000000000000000..82f4edf3cb824bfbdd39af21bd256453dc22bee2
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000022/controls/hand_camera_poses.npz
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+version https://git-lfs.github.com/spec/v1
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+size 1764688
diff --git a/inputs/human_hand/pickfruit/ep000022/metadata.json b/inputs/human_hand/pickfruit/ep000022/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6044aaf5b31a4fb8838ccdebf8a3ce61ea18c3ba
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000022/metadata.json
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+  "num_transitions": 1846,
+  "seed_local_index": 0,
+  "embodiment": "ego_human_bimanual",
+  "files": {
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+    "calibration": "calibration.json",
+    "source_map": "source_map.json",
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+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "head_stereo_left": "observations/head_stereo_left.png",
+      "head_stereo_right": "observations/head_stereo_right.png"
+    },
+    "controls": {
+      "hand_camera_poses": "controls/hand_camera_poses.npz",
+      "action_57d_spec": "controls/action_57d_spec.json"
+    },
+    "fisheye_calibration": "calibration_fisheye.json",
+    "fisheye_observations": {
+      "top_head": "observations/fisheye/top_head.png",
+      "hand_left": "observations/fisheye/hand_left.png",
+      "hand_right": "observations/fisheye/hand_right.png"
+    }
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+  "active_projection": {
+    "views": [
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+    "width": 640,
+    "height": 480,
+    "hfov_deg": 90.0,
+    "view_pitch_deg": 38.0
+  }
+}
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+{
+  "schema_version": "acwmbench.ego.pinhole_migration.v1",
+  "task": "pickfruit",
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+  "controls_transformed": false,
+  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
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--- /dev/null
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diff --git a/inputs/human_hand/pickfruit/ep000026/calibration.json b/inputs/human_hand/pickfruit/ep000026/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d456e57e78abad85c6ec229f38cb15d0bd4aa03f
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000026/calibration.json
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+{
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+  }
+}
diff --git a/inputs/human_hand/pickfruit/ep000026/calibration_fisheye.json b/inputs/human_hand/pickfruit/ep000026/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5206ec857f0859291b43b21f60ac5015a89053a
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000026/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
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diff --git a/inputs/human_hand/pickfruit/ep000026/controls/action_57d_spec.json b/inputs/human_hand/pickfruit/ep000026/controls/action_57d_spec.json
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+{
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+}
diff --git a/inputs/human_hand/pickfruit/ep000026/trajectory.parquet b/inputs/human_hand/pickfruit/ep000026/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1dac07a05268341d643b883c60d1b588ee93328c
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000026/trajectory.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33ef107fd4352876d4c0e0412f9e9855fc29de5eb552e3d10d67a0c768ae4543
+size 7783390
diff --git a/inputs/human_hand/pickfruit/ep000032/calibration.json b/inputs/human_hand/pickfruit/ep000032/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fc5d136c88f1a954168133f834d0c40c2bf7c36
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000032/calibration.json
@@ -0,0 +1,506 @@
+{
+  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
+  "episode_index": 32,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
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+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
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+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
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+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_right": {
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+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "head_stereo_left": {
+      "source_camera": "head_stereo_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "k3": -0.02656524069607258,
+        "k4": 0.008368264883756638,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_left_T_imu": {
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+            "y": -0.005711054071957077,
+            "z": -0.0016198635801491547,
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+        },
+        "extrinsic_head_stereo_left_T_right": {
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+            "z": -0.00025589655066818193
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_right": {
+      "source_camera": "head_stereo_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Cx": 480.90869140625,
+        "Cy": 300.6904602050781,
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+        "k3": -0.019749220460653305,
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+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    }
+  },
+  "source_calibration": {
+    "extrinsic_head_fisheye_T_left": {
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+        "y": 0.0002965523734030786,
+        "z": 2.7778272304765542e-05,
+        "w": 0.9999995098640481
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+        "y": -0.00044053462609449333,
+        "z": 0.0010914965841121059
+      }
+    },
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+        "z": -0.017029698432489374
+      }
+    },
+    "extrinsic_head_stereo_left_T_right": {
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+        "z": -0.00025589655066818193
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+    "intrinsic_head_imu": {
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+      "acc_w": 2.9547641343712726e-05,
+      "gyro_n": 0.0008512645105958214,
+      "gyro_w": 8.042016530226203e-06,
+      "timeshift_fisheye_cam_imu": 0.0032943932938084845
+    },
+    "intrinsic_head_stereo_left": {
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+      "k3": -0.02656524069607258,
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+    "intrinsic_head_stereo_right": {
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+    "suppiler_flag": {
+      "head_fisheye": "383100008901V01AA1VA069126071000489",
+      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
+      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
+      "head_stereo_left": "383100008901V01AA1VA069126071000489",
+      "head_stereo_right": "383100008901V01AA1VA069126071000489",
+      "suppiler": 0
+    }
+  },
+  "source_calibration_file": "calibration_fisheye.json",
+  "active_views": {
+    "top_head": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_left": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_right": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    }
+  }
+}
diff --git a/inputs/human_hand/pickfruit/ep000032/calibration_fisheye.json b/inputs/human_hand/pickfruit/ep000032/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..298ec061b7b52972df873c02508a0c47b1cfed2f
--- /dev/null
+++ b/inputs/human_hand/pickfruit/ep000032/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
+  "schema_version": "acwmbench.ego.calibration.v1",
+  "episode_index": 32,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
+      "source_camera": "head_fisheye",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
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+        "Cy": 299.5632019042969,
+        "Fx": 224.22935485839844,
+        "Fy": 224.09205627441406,
+        "height": 600,
+        "k1": 0.057993289083242416,
+        "k2": 0.01816844940185547,
+        "k3": -0.008063109591603279,
+        "k4": 0.0006919464212842286,
+        "width": 800
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_T_left": {
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+            "y": 0.0002965523734030786,
+            "z": 2.7778272304765542e-05,
+            "w": 0.9999995098640481
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+            "z": 0.0010914965841121059
+          }
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+        "extrinsic_head_fisheye_left_T_left": {
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+            "z": -0.028958392523767598
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+        },
+        "extrinsic_head_fisheye_right_T_left": {
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+            "z": -0.02812516971803584
+          }
+        }
+      },
+      "resolution": {
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+        "height": 600
+      }
+    },
+    "hand_left": {
+      "source_camera": "head_fisheye_left",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
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+        "Fy": 223.11749267578125,
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+      "extrinsics": {
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+            "z": -0.028958392523767598
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
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+        "Cy": 299.4262390136719,
+        "Fx": 223.5740509033203,
+        "Fy": 223.46319580078125,
+        "height": 600,
+        "k1": 0.05835850164294243,
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+        "k3": -0.007227227091789246,
+        "k4": 0.0004160731041338295,
+        "width": 960
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+      "extrinsics": {
+        "extrinsic_head_fisheye_right_T_left": {
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+        }
+      },
+      "resolution": {
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+        "height": 600
+      }
+    },
+    "head_stereo_left": {
+      "source_camera": "head_stereo_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "Cy": 298.59674072265625,
+        "Fx": 300.0994873046875,
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+        "width": 960
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+      },
+      "resolution": {
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+        "height": 600
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+    },
+    "head_stereo_right": {
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+      "camera_mount": "head",
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+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    }
+  },
+  "source_calibration": {
+    "extrinsic_head_fisheye_T_left": {
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+    },
+    "extrinsic_head_fisheye_left_T_left": {
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+    "extrinsic_head_stereo_left_T_imu": {
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+    "extrinsic_head_stereo_left_T_right": {
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+    "intrinsic_head_fisheye": {
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+    "intrinsic_head_fisheye_left": {
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+size 7752038
diff --git a/inputs/human_hand/pickfruit/schema.json b/inputs/human_hand/pickfruit/schema.json
new file mode 100644
index 0000000000000000000000000000000000000000..79d4df66d2c3797ecd9aaf82a4532c96448e0559
--- /dev/null
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+{
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+}
diff --git a/inputs/human_hand/pourwater/ep000015/calibration.json b/inputs/human_hand/pourwater/ep000015/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf40a8088139210ef9e6f8b0bf49179e697bcc6a
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000015/calibration.json
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+{
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+        "source_intrinsics": {
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+          "Cy": 299.9506530761719,
+          "Fx": 223.04345703125,
+          "Fy": 223.11749267578125,
+          "height": 600,
+          "k1": 0.06008125841617584,
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+          "k3": -0.006167862098664045,
+          "k4": 0.00022500510385725647,
+          "width": 960
+        },
+        "source_to_virtual_rotation": [
+          [
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+            0.0,
+            0.0
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+          [
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+          [
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+            0.6156614753256583,
+            0.7880107536067219
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+        ],
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_right_T_left": {
+          "rotation": {
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+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
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+          "translation": {
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+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
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+        }
+      },
+      "resolution": {
+        "width": 640,
+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
+          "Cx": 480.4215393066406,
+          "Cy": 299.4262390136719,
+          "Fx": 223.5740509033203,
+          "Fy": 223.46319580078125,
+          "height": 600,
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+          "k3": -0.007227227091789246,
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+          "width": 960
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+        "source_to_virtual_rotation": [
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+            0.0,
+            0.0
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+          [
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+            0.7880107536067219,
+            -0.6156614753256583
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+          [
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+            0.6156614753256583,
+            0.7880107536067219
+          ]
+        ],
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "head_stereo_left": {
+      "source_camera": "head_stereo_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "Cy": 298.59674072265625,
+        "Fx": 300.0994873046875,
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+        "height": 600,
+        "k1": 0.23313209414482117,
+        "k2": -0.013054169714450836,
+        "k3": -0.02656524069607258,
+        "k4": 0.008368264883756638,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_left_T_imu": {
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+            "z": -0.0016198635801491547,
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+            "y": -0.0042354069095445705,
+            "z": -0.017029698432489374
+          }
+        },
+        "extrinsic_head_stereo_left_T_right": {
+          "rotation": {
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+            "y": 0.0010112171798395235,
+            "z": -0.0002191893102376494,
+            "w": 0.9999984789911828
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+            "y": -0.00012716207060800203,
+            "z": -0.00025589655066818193
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_right": {
+      "source_camera": "head_stereo_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Cx": 480.90869140625,
+        "Cy": 300.6904602050781,
+        "Fx": 300.04974365234375,
+        "Fy": 299.9335632324219,
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+        "k3": -0.019749220460653305,
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+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_right_T_imu": {
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+            "y": -0.0059275519736941866,
+            "z": -0.002624102731710321,
+            "w": -0.006305158409659226
+          },
+          "translation": {
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+            "y": -0.005074571574618962,
+            "z": -0.01760922065052973
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    }
+  },
+  "source_calibration": {
+    "extrinsic_head_fisheye_T_left": {
+      "rotation": {
+        "x": 0.0009442228132370642,
+        "y": 0.0002965523734030786,
+        "z": 2.7778272304765542e-05,
+        "w": 0.9999995098640481
+      },
+      "translation": {
+        "x": 0.03061258879177004,
+        "y": -0.00044053462609449333,
+        "z": 0.0010914965841121059
+      }
+    },
+    "extrinsic_head_fisheye_left_T_left": {
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+        "y": -0.42865062258823455,
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+        "y": 0.014694437626401657,
+        "z": -0.028958392523767598
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+    },
+    "extrinsic_head_fisheye_right_T_left": {
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+        "y": 0.42641808299703304,
+        "z": 0.20065156149051988,
+        "w": 0.8819900289925252
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+      "translation": {
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+        "y": 0.013827394575498546,
+        "z": -0.02812516971803584
+      }
+    },
+    "extrinsic_head_stereo_left_T_imu": {
+      "rotation": {
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+        "y": -0.005711054071957077,
+        "z": -0.0016198635801491547,
+        "w": -0.004895717855982548
+      },
+      "translation": {
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+        "y": -0.0042354069095445705,
+        "z": -0.017029698432489374
+      }
+    },
+    "extrinsic_head_stereo_left_T_right": {
+      "rotation": {
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+        "y": 0.0010112171798395235,
+        "z": -0.0002191893102376494,
+        "w": 0.9999984789911828
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+        "y": -0.00012716207060800203,
+        "z": -0.00025589655066818193
+      }
+    },
+    "extrinsic_head_stereo_right_T_imu": {
+      "rotation": {
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+        "y": -0.0059275519736941866,
+        "z": -0.002624102731710321,
+        "w": -0.006305158409659226
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+      "translation": {
+        "x": 0.06491403504737772,
+        "y": -0.005074571574618962,
+        "z": -0.01760922065052973
+      }
+    },
+    "intrinsic_head_fisheye": {
+      "Cx": 401.24334716796875,
+      "Cy": 299.5632019042969,
+      "Fx": 224.22935485839844,
+      "Fy": 224.09205627441406,
+      "height": 600,
+      "k1": 0.057993289083242416,
+      "k2": 0.01816844940185547,
+      "k3": -0.008063109591603279,
+      "k4": 0.0006919464212842286,
+      "width": 800
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+    "intrinsic_head_fisheye_left": {
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+    "intrinsic_head_imu": {
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+      "acc_w": 2.9547641343712726e-05,
+      "gyro_n": 0.0008512645105958214,
+      "gyro_w": 8.042016530226203e-06,
+      "timeshift_fisheye_cam_imu": 0.0032943932938084845
+    },
+    "intrinsic_head_stereo_left": {
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+    "suppiler_flag": {
+      "head_fisheye": "383100008901V01AA1VA069126071000489",
+      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
+      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
+      "head_stereo_left": "383100008901V01AA1VA069126071000489",
+      "head_stereo_right": "383100008901V01AA1VA069126071000489",
+      "suppiler": 0
+    }
+  },
+  "source_calibration_file": "calibration_fisheye.json",
+  "active_views": {
+    "top_head": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_left": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_right": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    }
+  }
+}
diff --git a/inputs/human_hand/pourwater/ep000015/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000015/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..baf6227fccac2d5d9be41558f4c99e98dac1ad33
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000015/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
+  "schema_version": "acwmbench.ego.calibration.v1",
+  "episode_index": 15,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
+      "source_camera": "head_fisheye",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
+        "Cx": 401.24334716796875,
+        "Cy": 299.5632019042969,
+        "Fx": 224.22935485839844,
+        "Fy": 224.09205627441406,
+        "height": 600,
+        "k1": 0.057993289083242416,
+        "k2": 0.01816844940185547,
+        "k3": -0.008063109591603279,
+        "k4": 0.0006919464212842286,
+        "width": 800
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_T_left": {
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+            "y": 0.0002965523734030786,
+            "z": 2.7778272304765542e-05,
+            "w": 0.9999995098640481
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+          "translation": {
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+            "y": -0.00044053462609449333,
+            "z": 0.0010914965841121059
+          }
+        },
+        "extrinsic_head_fisheye_left_T_left": {
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+            "y": -0.42865062258823455,
+            "z": -0.19933934578868262,
+            "w": 0.8811976106036848
+          },
+          "translation": {
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+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        },
+        "extrinsic_head_fisheye_right_T_left": {
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+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
+          },
+          "translation": {
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+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
+          }
+        }
+      },
+      "resolution": {
+        "width": 800,
+        "height": 600
+      }
+    },
+    "hand_left": {
+      "source_camera": "head_fisheye_left",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
+        "Cx": 479.4472961425781,
+        "Cy": 299.9506530761719,
+        "Fx": 223.04345703125,
+        "Fy": 223.11749267578125,
+        "height": 600,
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+        "k2": 0.015944620594382286,
+        "k3": -0.006167862098664045,
+        "k4": 0.00022500510385725647,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_left_T_left": {
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+            "y": -0.42865062258823455,
+            "z": -0.19933934578868262,
+            "w": 0.8811976106036848
+          },
+          "translation": {
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+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
+        "Cx": 480.4215393066406,
+        "Cy": 299.4262390136719,
+        "Fx": 223.5740509033203,
+        "Fy": 223.46319580078125,
+        "height": 600,
+        "k1": 0.05835850164294243,
+        "k2": 0.017698010429739952,
+        "k3": -0.007227227091789246,
+        "k4": 0.0004160731041338295,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_right_T_left": {
+          "rotation": {
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+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
+          },
+          "translation": {
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+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_left": {
+      "source_camera": "head_stereo_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Cx": 481.39990234375,
+        "Cy": 298.59674072265625,
+        "Fx": 300.0994873046875,
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+        "k4": 0.008368264883756638,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_left_T_imu": {
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+            "y": -0.005711054071957077,
+            "z": -0.0016198635801491547,
+            "w": -0.004895717855982548
+          },
+          "translation": {
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+            "y": -0.0042354069095445705,
+            "z": -0.017029698432489374
+          }
+        },
+        "extrinsic_head_stereo_left_T_right": {
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+            "y": 0.0010112171798395235,
+            "z": -0.0002191893102376494,
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+          },
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+            "y": -0.00012716207060800203,
+            "z": -0.00025589655066818193
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_right": {
+      "source_camera": "head_stereo_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "Cy": 300.6904602050781,
+        "Fx": 300.04974365234375,
+        "Fy": 299.9335632324219,
+        "height": 600,
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+        "k2": -0.01877696067094803,
+        "k3": -0.019749220460653305,
+        "k4": 0.00620193500071764,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_right_T_imu": {
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+            "y": -0.0059275519736941866,
+            "z": -0.002624102731710321,
+            "w": -0.006305158409659226
+          },
+          "translation": {
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+            "y": -0.005074571574618962,
+            "z": -0.01760922065052973
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    }
+  },
+  "source_calibration": {
+    "extrinsic_head_fisheye_T_left": {
+      "rotation": {
+        "x": 0.0009442228132370642,
+        "y": 0.0002965523734030786,
+        "z": 2.7778272304765542e-05,
+        "w": 0.9999995098640481
+      },
+      "translation": {
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+        "y": -0.00044053462609449333,
+        "z": 0.0010914965841121059
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diff --git a/inputs/human_hand/pourwater/ep000015/controls/action_57d_spec.json b/inputs/human_hand/pourwater/ep000015/controls/action_57d_spec.json
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index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
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+{
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+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
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+{
+  "schema_version": "acwmbench.inference.ego.v1",
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+}
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+{
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diff --git a/inputs/human_hand/pourwater/ep000015/trajectory.parquet b/inputs/human_hand/pourwater/ep000015/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..55c70e960270188cd11802a97a63c70ffddaabf3
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000015/trajectory.parquet
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+version https://git-lfs.github.com/spec/v1
+oid sha256:6c20fa5f179bc2db4cdf18b713e14f1bd851e848d1aebbb0ecb8bd4679de87c1
+size 7820847
diff --git a/inputs/human_hand/pourwater/ep000016/calibration.json b/inputs/human_hand/pourwater/ep000016/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..05ebb7a0f9b5baee9ab46d989488d10a024fda9b
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000016/calibration.json
@@ -0,0 +1,506 @@
+{
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+}
diff --git a/inputs/human_hand/pourwater/ep000016/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000016/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..5552b4e4e470142a2cb1244a02ce8e97c172ddce
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000016/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
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+}
diff --git a/inputs/human_hand/pourwater/ep000016/controls/action_57d_spec.json b/inputs/human_hand/pourwater/ep000016/controls/action_57d_spec.json
new file mode 100644
index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000016/controls/action_57d_spec.json
@@ -0,0 +1,60 @@
+{
+  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
+  "width": 57,
+  "layout": [
+    {
+      "name": "camera_delta",
+      "indices": [
+        0,
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+      "encoding": "xyz+rot6d"
+    },
+    {
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+      "indices": [
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+      "encoding": "xyz+rot6d"
+    },
+    {
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+  ],
+  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
diff --git a/inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e2ec4cb930bfcb77731f2570c7aa3c4e4acab2e5
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000016/controls/hand_camera_poses.npz
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b43808990fff87258db0c203a6e12c8cf12a5106323705b186c03f98bbd532e7
+size 1835999
diff --git a/inputs/human_hand/pourwater/ep000016/metadata.json b/inputs/human_hand/pourwater/ep000016/metadata.json
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+{
+  "schema_version": "acwmbench.inference.ego.v1",
+  "task_name": "pourwater",
+  "episode_index": 16,
+  "episode_name": "ep000016",
+  "fps": 15.0,
+  "num_frames": 1910,
+  "num_transitions": 1909,
+  "seed_local_index": 0,
+  "embodiment": "ego_human_bimanual",
+  "files": {
+    "trajectory": "trajectory.parquet",
+    "calibration": "calibration.json",
+    "source_map": "source_map.json",
+    "observations": {
+      "top_head": "observations/top_head.png",
+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "head_stereo_left": "observations/head_stereo_left.png",
+      "head_stereo_right": "observations/head_stereo_right.png"
+    },
+    "controls": {
+      "hand_camera_poses": "controls/hand_camera_poses.npz",
+      "action_57d_spec": "controls/action_57d_spec.json"
+    },
+    "fisheye_calibration": "calibration_fisheye.json",
+    "fisheye_observations": {
+      "top_head": "observations/fisheye/top_head.png",
+      "hand_left": "observations/fisheye/hand_left.png",
+      "hand_right": "observations/fisheye/hand_right.png"
+    }
+  },
+  "active_projection": {
+    "views": [
+      "top_head",
+      "hand_left",
+      "hand_right"
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+    "model": "pinhole",
+    "width": 640,
+    "height": 480,
+    "hfov_deg": 90.0,
+    "view_pitch_deg": 38.0
+  }
+}
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+{
+  "schema_version": "acwmbench.ego.pinhole_migration.v1",
+  "task": "pourwater",
+  "episode": "ep000016",
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+  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
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index 0000000000000000000000000000000000000000..8bfcfd668dc07716e8b29fd7d93204c9dbd983b1
--- /dev/null
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diff --git a/inputs/human_hand/pourwater/ep000020/calibration.json b/inputs/human_hand/pourwater/ep000020/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3acd121261cb19e80073ee3d2aecf0a19919767f
--- /dev/null
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+}
diff --git a/inputs/human_hand/pourwater/ep000020/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000020/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..29cba79aaa3fecbc917a32636741e8214e184ef0
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000020/calibration_fisheye.json
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+{
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diff --git a/inputs/human_hand/pourwater/ep000020/controls/action_57d_spec.json b/inputs/human_hand/pourwater/ep000020/controls/action_57d_spec.json
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index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
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+{
+  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
+  "width": 57,
+  "layout": [
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+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
diff --git a/inputs/human_hand/pourwater/ep000020/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000020/controls/hand_camera_poses.npz
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+version https://git-lfs.github.com/spec/v1
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index 0000000000000000000000000000000000000000..e67fd208921640b769a51fd124e74d138fc0ce9f
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000020/metadata.json
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+{
+  "schema_version": "acwmbench.inference.ego.v1",
+  "task_name": "pourwater",
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+  "episode_name": "ep000020",
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+}
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diff --git a/inputs/human_hand/pourwater/ep000020/pinhole_migration.json b/inputs/human_hand/pourwater/ep000020/pinhole_migration.json
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--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000020/pinhole_migration.json
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+{
+  "schema_version": "acwmbench.ego.pinhole_migration.v1",
+  "task": "pourwater",
+  "episode": "ep000020",
+  "views": [
+    "top_head",
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+  "hfov_deg": 90.0,
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+  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
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diff --git a/inputs/human_hand/pourwater/ep000020/source_map.json b/inputs/human_hand/pourwater/ep000020/source_map.json
new file mode 100644
index 0000000000000000000000000000000000000000..d77fc40a1d804e7f2fc9e3179798c0c8a9719a2c
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000020/source_map.json
@@ -0,0 +1,1943 @@
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+}
diff --git a/inputs/human_hand/pourwater/ep000020/trajectory.parquet b/inputs/human_hand/pourwater/ep000020/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dc393f9a6fff60b0387fbc83ab1c563f648cea84
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000020/trajectory.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9064da70ae8ed788faa16a05dcc7ab30ff7f63f262a4f6aaa35f348fae119f0f
+size 7839661
diff --git a/inputs/human_hand/pourwater/ep000021/calibration.json b/inputs/human_hand/pourwater/ep000021/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..22412b45cb42c8d088433b81d05b8e5d75268f0c
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000021/calibration.json
@@ -0,0 +1,506 @@
+{
+  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
+  "episode_index": 21,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
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+      "camera_mount": "head",
+      "projection_model": "pinhole",
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+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
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+      "extrinsics": {
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+            "y": 0.0002965523734030786,
+            "z": 2.7778272304765542e-05,
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+            "z": -0.028958392523767598
+          }
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+      "rectification": {
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+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_left": {
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+        "width": 640,
+        "height": 480
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+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
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+        "height": 480
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+        "height": 480
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+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "head_stereo_left": {
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+      "resolution": {
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+        "height": 600
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+    "head_stereo_right": {
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+      "camera_mount": "head",
+      "projection_model": "pinhole",
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+      "resolution": {
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+        "height": 600
+      }
+    }
+  },
+  "source_calibration": {
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+      "gyro_w": 8.042016530226203e-06,
+      "timeshift_fisheye_cam_imu": 0.0032943932938084845
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+    "intrinsic_head_stereo_left": {
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+    "suppiler_flag": {
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+      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
+      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
+      "head_stereo_left": "383100008901V01AA1VA069126071000489",
+      "head_stereo_right": "383100008901V01AA1VA069126071000489",
+      "suppiler": 0
+    }
+  },
+  "source_calibration_file": "calibration_fisheye.json",
+  "active_views": {
+    "top_head": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_left": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_right": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    }
+  }
+}
diff --git a/inputs/human_hand/pourwater/ep000021/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000021/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..64ee60e0ed6611ce9b996d486bc5f858d2807e41
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000021/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
+  "schema_version": "acwmbench.ego.calibration.v1",
+  "episode_index": 21,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
+      "source_camera": "head_fisheye",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
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+        "Fx": 224.22935485839844,
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+        "height": 600,
+        "k1": 0.057993289083242416,
+        "k2": 0.01816844940185547,
+        "k3": -0.008063109591603279,
+        "k4": 0.0006919464212842286,
+        "width": 800
+      },
+      "extrinsics": {
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+            "z": 0.0010914965841121059
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+            "z": -0.028958392523767598
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+      },
+      "resolution": {
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+        "height": 600
+      }
+    },
+    "hand_left": {
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+      "projection_model": "opencv_fisheye",
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+            "z": -0.028958392523767598
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+        }
+      },
+      "resolution": {
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+        "height": 600
+      }
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
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+        "Cy": 299.4262390136719,
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+        "Fy": 223.46319580078125,
+        "height": 600,
+        "k1": 0.05835850164294243,
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+        "k3": -0.007227227091789246,
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+      "extrinsics": {
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+        }
+      },
+      "resolution": {
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+        "height": 600
+      }
+    },
+    "head_stereo_left": {
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+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "width": 960
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+      "extrinsics": {
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+        "extrinsic_head_stereo_left_T_right": {
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+            "z": -0.00025589655066818193
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+      },
+      "resolution": {
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+        "height": 600
+      }
+    },
+    "head_stereo_right": {
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+      "camera_mount": "head",
+      "projection_model": "pinhole",
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+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    }
+  },
+  "source_calibration": {
+    "extrinsic_head_fisheye_T_left": {
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+        "z": 0.0010914965841121059
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+    },
+    "extrinsic_head_fisheye_left_T_left": {
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+    "extrinsic_head_stereo_left_T_imu": {
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diff --git a/inputs/human_hand/pourwater/ep000021/controls/action_57d_spec.json b/inputs/human_hand/pourwater/ep000021/controls/action_57d_spec.json
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index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
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+{
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+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
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+{
+  "schema_version": "acwmbench.inference.ego.v1",
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+}
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diff --git a/inputs/human_hand/pourwater/ep000021/trajectory.parquet b/inputs/human_hand/pourwater/ep000021/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f85e6882ef53bd16b76adb27bcc1754beca913ca
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000021/trajectory.parquet
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+version https://git-lfs.github.com/spec/v1
+oid sha256:d55b212ab0671faf8219bcfde45dd455a4d2bf167db6729f735593457de2db80
+size 7794510
diff --git a/inputs/human_hand/pourwater/ep000022/calibration.json b/inputs/human_hand/pourwater/ep000022/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..81df536f49df7d85f4b23450114dc72d86bdb1dd
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000022/calibration.json
@@ -0,0 +1,506 @@
+{
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+}
diff --git a/inputs/human_hand/pourwater/ep000022/calibration_fisheye.json b/inputs/human_hand/pourwater/ep000022/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ac467fdb87f2cbfc1de843f3570fe3cd7270e13
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000022/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
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+}
diff --git a/inputs/human_hand/pourwater/ep000022/controls/action_57d_spec.json b/inputs/human_hand/pourwater/ep000022/controls/action_57d_spec.json
new file mode 100644
index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000022/controls/action_57d_spec.json
@@ -0,0 +1,60 @@
+{
+  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
+  "width": 57,
+  "layout": [
+    {
+      "name": "camera_delta",
+      "indices": [
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+        9
+      ],
+      "encoding": "xyz+rot6d"
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+    {
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+      "encoding": "xyz+rot6d"
+    },
+    {
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+      "indices": [
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+      "encoding": "xyz+rot6d"
+    },
+    {
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+    }
+  ],
+  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
diff --git a/inputs/human_hand/pourwater/ep000022/controls/hand_camera_poses.npz b/inputs/human_hand/pourwater/ep000022/controls/hand_camera_poses.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9cfaef7a92b226a616bbe112156a3e6c358d0ffd
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000022/controls/hand_camera_poses.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:257adc7705f0b6f107ecdb5a5a7ae1fd19abcb9bd6d6fc7ae4cb5a6922b83fd4
+size 1768612
diff --git a/inputs/human_hand/pourwater/ep000022/metadata.json b/inputs/human_hand/pourwater/ep000022/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d8e70176573bdacb57b9e67feff8ba5b958bc5c
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000022/metadata.json
@@ -0,0 +1,45 @@
+{
+  "schema_version": "acwmbench.inference.ego.v1",
+  "task_name": "pourwater",
+  "episode_index": 22,
+  "episode_name": "ep000022",
+  "fps": 15.0,
+  "num_frames": 1853,
+  "num_transitions": 1852,
+  "seed_local_index": 0,
+  "embodiment": "ego_human_bimanual",
+  "files": {
+    "trajectory": "trajectory.parquet",
+    "calibration": "calibration.json",
+    "source_map": "source_map.json",
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+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "head_stereo_left": "observations/head_stereo_left.png",
+      "head_stereo_right": "observations/head_stereo_right.png"
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+      "hand_camera_poses": "controls/hand_camera_poses.npz",
+      "action_57d_spec": "controls/action_57d_spec.json"
+    },
+    "fisheye_calibration": "calibration_fisheye.json",
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+}
diff --git a/inputs/human_hand/pourwater/ep000022/trajectory.parquet b/inputs/human_hand/pourwater/ep000022/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..11300b13de1c42fa4bd7f6cfd724f9423c0f2f6f
--- /dev/null
+++ b/inputs/human_hand/pourwater/ep000022/trajectory.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b84c388fe2d00e9f365275bb7bb2de0fa8c0eeb6d214d0af46b786afa1ea9587
+size 7685568
diff --git a/inputs/human_hand/pourwater/schema.json b/inputs/human_hand/pourwater/schema.json
new file mode 100644
index 0000000000000000000000000000000000000000..79d4df66d2c3797ecd9aaf82a4532c96448e0559
--- /dev/null
+++ b/inputs/human_hand/pourwater/schema.json
@@ -0,0 +1,558 @@
+{
+  "schema_version": "acwmbench.inference.ego.v1",
+  "embodiment": "ego_human_bimanual",
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+          "indices": [
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+        },
+        "right_wrist_world_delta": {
+          "description": "right wrist world xyz + rot6d delta",
+          "dimensions": 9,
+          "indices": [
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17
+          ]
+        },
+        "right_fingertips_in_wrist": {
+          "description": "five right fingertip XYZ positions in aligned wrist frame",
+          "dimensions": 15,
+          "indices": [
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
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+            30,
+            31,
+            32
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+        },
+        "left_wrist_world_delta": {
+          "description": "left wrist world xyz + rot6d delta",
+          "dimensions": 9,
+          "indices": [
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41
+          ]
+        },
+        "left_fingertips_in_wrist": {
+          "description": "five left fingertip XYZ positions in aligned wrist frame",
+          "dimensions": 15,
+          "indices": [
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
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+        }
+      }
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
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+      "field_descriptions": {
+        "hand_state/left/ori": {
+          "description": "21 XYZW quaternions",
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+        "hand_state/left/pos": {
+          "description": "21 XYZ positions in camera frame",
+          "dimensions": 63,
+          "indices": [
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+          ]
+        },
+        "hand_state/left/valid": {
+          "description": "left hand valid",
+          "dimensions": 1,
+          "indices": [
+            147
+          ]
+        },
+        "hand_state/right/ori": {
+          "description": "21 XYZW quaternions",
+          "dimensions": 84,
+          "indices": [
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+        },
+        "hand_state/right/pos": {
+          "description": "21 XYZ positions in camera frame",
+          "dimensions": 63,
+          "indices": [
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+        },
+        "hand_state/right/valid": {
+          "description": "right hand valid",
+          "dimensions": 1,
+          "indices": [
+            295
+          ]
+        },
+        "head_camera/orientation": {
+          "description": "camera-to-world XYZW quaternion",
+          "dimensions": 4,
+          "indices": [
+            296,
+            297,
+            298,
+            299
+          ]
+        },
+        "head_camera/position": {
+          "description": "camera-to-world XYZ position",
+          "dimensions": 3,
+          "indices": [
+            300,
+            301,
+            302
+          ]
+        },
+        "head_camera/valid": {
+          "description": "camera pose valid",
+          "dimensions": 1,
+          "indices": [
+            303
+          ]
+        }
+      }
+    },
+    "observation.aux": {
+      "dtype": "float32",
+      "shape": [
+        19
+      ]
+    },
+    "observation.source_state": {
+      "dtype": "float32",
+      "shape": [
+        635
+      ]
+    }
+  },
+  "views": {
+    "top_head": {
+      "source": "head_fisheye",
+      "mount": "head",
+      "compatibility_alias": true,
+      "active_projection": {
+        "model": "pinhole",
+        "width": 640,
+        "height": 480,
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "source_model": "opencv_fisheye",
+        "source_backup": {
+          "gt": "video/fisheye/<view>",
+          "inference": "observations/fisheye/<view>.png"
+        }
+      },
+      "source_projection": "opencv_fisheye"
+    },
+    "hand_left": {
+      "source": "head_fisheye_left",
+      "mount": "head",
+      "compatibility_alias": true,
+      "active_projection": {
+        "model": "pinhole",
+        "width": 640,
+        "height": 480,
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "source_model": "opencv_fisheye",
+        "source_backup": {
+          "gt": "video/fisheye/<view>",
+          "inference": "observations/fisheye/<view>.png"
+        }
+      },
+      "source_projection": "opencv_fisheye"
+    },
+    "hand_right": {
+      "source": "head_fisheye_right",
+      "mount": "head",
+      "compatibility_alias": true,
+      "active_projection": {
+        "model": "pinhole",
+        "width": 640,
+        "height": 480,
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "source_model": "opencv_fisheye",
+        "source_backup": {
+          "gt": "video/fisheye/<view>",
+          "inference": "observations/fisheye/<view>.png"
+        }
+      },
+      "source_projection": "opencv_fisheye"
+    },
+    "head_stereo_left": {
+      "source": "head_stereo_left",
+      "mount": "head",
+      "compatibility_alias": false
+    },
+    "head_stereo_right": {
+      "source": "head_stereo_right",
+      "mount": "head",
+      "compatibility_alias": false
+    }
+  },
+  "active_projection": {
+    "model": "pinhole",
+    "width": 640,
+    "height": 480,
+    "hfov_deg": 90.0,
+    "view_pitch_deg": 38.0,
+    "source_model": "opencv_fisheye",
+    "source_backup": {
+      "gt": "video/fisheye/<view>",
+      "inference": "observations/fisheye/<view>.png"
+    }
+  }
+}
diff --git a/inputs/human_hand/pulldrawer/ep000010/calibration.json b/inputs/human_hand/pulldrawer/ep000010/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f8953532c17c3b7d8b7d30f8419365f0685fb70
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000010/calibration.json
@@ -0,0 +1,506 @@
+{
+  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
+  "episode_index": 10,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
+      "source_camera": "head_fisheye",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_T_left": {
+          "rotation": {
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+            "y": 0.0002965523734030786,
+            "z": 2.7778272304765542e-05,
+            "w": 0.9999995098640481
+          },
+          "translation": {
+            "x": 0.03061258879177004,
+            "y": -0.00044053462609449333,
+            "z": 0.0010914965841121059
+          }
+        },
+        "extrinsic_head_fisheye_left_T_left": {
+          "rotation": {
+            "x": 0.00363868679823883,
+            "y": -0.42865062258823455,
+            "z": -0.19933934578868262,
+            "w": 0.8811976106036848
+          },
+          "translation": {
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+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        },
+        "extrinsic_head_fisheye_right_T_left": {
+          "rotation": {
+            "x": 0.0003976459684297884,
+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
+          },
+          "translation": {
+            "x": 0.11023896172779998,
+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
+          }
+        }
+      },
+      "resolution": {
+        "width": 640,
+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
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+          "Cy": 299.5632019042969,
+          "Fx": 224.22935485839844,
+          "Fy": 224.09205627441406,
+          "height": 600,
+          "k1": 0.057993289083242416,
+          "k2": 0.01816844940185547,
+          "k3": -0.008063109591603279,
+          "k4": 0.0006919464212842286,
+          "width": 800
+        },
+        "source_to_virtual_rotation": [
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+            0.0,
+            0.0
+          ],
+          [
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+            -0.6156614753256583
+          ],
+          [
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+            0.6156614753256583,
+            0.7880107536067219
+          ]
+        ],
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_left": {
+      "source_camera": "head_fisheye_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Fx": 320.00000000000006,
+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_left_T_left": {
+          "rotation": {
+            "x": 0.00363868679823883,
+            "y": -0.42865062258823455,
+            "z": -0.19933934578868262,
+            "w": 0.8811976106036848
+          },
+          "translation": {
+            "x": -0.05050148006484744,
+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        }
+      },
+      "resolution": {
+        "width": 640,
+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
+          "Cx": 479.4472961425781,
+          "Cy": 299.9506530761719,
+          "Fx": 223.04345703125,
+          "Fy": 223.11749267578125,
+          "height": 600,
+          "k1": 0.06008125841617584,
+          "k2": 0.015944620594382286,
+          "k3": -0.006167862098664045,
+          "k4": 0.00022500510385725647,
+          "width": 960
+        },
+        "source_to_virtual_rotation": [
+          [
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+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.7880107536067219,
+            -0.6156614753256583
+          ],
+          [
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+            0.6156614753256583,
+            0.7880107536067219
+          ]
+        ],
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Fx": 320.00000000000006,
+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_right_T_left": {
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+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
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+            "z": -0.02812516971803584
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+      },
+      "resolution": {
+        "width": 640,
+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
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+          "Cy": 299.4262390136719,
+          "Fx": 223.5740509033203,
+          "Fy": 223.46319580078125,
+          "height": 600,
+          "k1": 0.05835850164294243,
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+          "width": 960
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+        "source_to_virtual_rotation": [
+          [
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+            0.0,
+            0.0
+          ],
+          [
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+            -0.6156614753256583
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+          [
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+            0.7880107536067219
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+        ],
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "head_stereo_left": {
+      "source_camera": "head_stereo_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Cx": 481.39990234375,
+        "Cy": 298.59674072265625,
+        "Fx": 300.0994873046875,
+        "Fy": 300.0945129394531,
+        "height": 600,
+        "k1": 0.23313209414482117,
+        "k2": -0.013054169714450836,
+        "k3": -0.02656524069607258,
+        "k4": 0.008368264883756638,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_left_T_imu": {
+          "rotation": {
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+            "y": -0.005711054071957077,
+            "z": -0.0016198635801491547,
+            "w": -0.004895717855982548
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+            "y": -0.0042354069095445705,
+            "z": -0.017029698432489374
+          }
+        },
+        "extrinsic_head_stereo_left_T_right": {
+          "rotation": {
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+            "y": 0.0010112171798395235,
+            "z": -0.0002191893102376494,
+            "w": 0.9999984789911828
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+          "translation": {
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+            "y": -0.00012716207060800203,
+            "z": -0.00025589655066818193
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_right": {
+      "source_camera": "head_stereo_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Cx": 480.90869140625,
+        "Cy": 300.6904602050781,
+        "Fx": 300.04974365234375,
+        "Fy": 299.9335632324219,
+        "height": 600,
+        "k1": 0.23226110637187958,
+        "k2": -0.01877696067094803,
+        "k3": -0.019749220460653305,
+        "k4": 0.00620193500071764,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_right_T_imu": {
+          "rotation": {
+            "x": 0.9999591107589757,
+            "y": -0.0059275519736941866,
+            "z": -0.002624102731710321,
+            "w": -0.006305158409659226
+          },
+          "translation": {
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+            "y": -0.005074571574618962,
+            "z": -0.01760922065052973
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    }
+  },
+  "source_calibration": {
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+  "active_views": {
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+      "height": 480,
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+      "view_pitch_deg": 38.0
+    },
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+    }
+  }
+}
diff --git a/inputs/human_hand/pulldrawer/ep000010/calibration_fisheye.json b/inputs/human_hand/pulldrawer/ep000010/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..418767104f012c7f48431904aaf02af156a98da2
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000010/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
+  "schema_version": "acwmbench.ego.calibration.v1",
+  "episode_index": 10,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
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+      "head_stereo_right": "383100008901V01AA1VA069126071000489",
+      "suppiler": 0
+    }
+  }
+}
diff --git a/inputs/human_hand/pulldrawer/ep000010/controls/action_57d_spec.json b/inputs/human_hand/pulldrawer/ep000010/controls/action_57d_spec.json
new file mode 100644
index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000010/controls/action_57d_spec.json
@@ -0,0 +1,60 @@
+{
+  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
+  "width": 57,
+  "layout": [
+    {
+      "name": "camera_delta",
+      "indices": [
+        0,
+        9
+      ],
+      "encoding": "xyz+rot6d"
+    },
+    {
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+  ],
+  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
diff --git a/inputs/human_hand/pulldrawer/ep000010/controls/hand_camera_poses.npz b/inputs/human_hand/pulldrawer/ep000010/controls/hand_camera_poses.npz
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index 0000000000000000000000000000000000000000..8e525706ebe21912b6a365852a456cc135c3a858
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diff --git a/inputs/human_hand/pulldrawer/ep000010/metadata.json b/inputs/human_hand/pulldrawer/ep000010/metadata.json
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--- /dev/null
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+{
+  "schema_version": "acwmbench.inference.ego.v1",
+  "task_name": "pulldrawer",
+  "episode_index": 10,
+  "episode_name": "ep000010",
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+  "num_frames": 1861,
+  "num_transitions": 1860,
+  "seed_local_index": 0,
+  "embodiment": "ego_human_bimanual",
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+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "head_stereo_left": "observations/head_stereo_left.png",
+      "head_stereo_right": "observations/head_stereo_right.png"
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+      "hand_camera_poses": "controls/hand_camera_poses.npz",
+      "action_57d_spec": "controls/action_57d_spec.json"
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+    "fisheye_calibration": "calibration_fisheye.json",
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+      "hand_left": "observations/fisheye/hand_left.png",
+      "hand_right": "observations/fisheye/hand_right.png"
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+    "width": 640,
+    "height": 480,
+    "hfov_deg": 90.0,
+    "view_pitch_deg": 38.0
+  }
+}
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+{
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index 0000000000000000000000000000000000000000..11f57b7fe23fa009ecab0cc650228e242944a403
--- /dev/null
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+size 7737155
diff --git a/inputs/human_hand/pulldrawer/ep000017/calibration.json b/inputs/human_hand/pulldrawer/ep000017/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..b61af542bee5b3c09c83ac1bc7955de65e86a832
--- /dev/null
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+{
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+}
diff --git a/inputs/human_hand/pulldrawer/ep000017/calibration_fisheye.json b/inputs/human_hand/pulldrawer/ep000017/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e8b94c14d2e22539b057fd219195a56b5fe5dbb
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000017/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
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diff --git a/inputs/human_hand/pulldrawer/ep000017/controls/action_57d_spec.json b/inputs/human_hand/pulldrawer/ep000017/controls/action_57d_spec.json
new file mode 100644
index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000017/controls/action_57d_spec.json
@@ -0,0 +1,60 @@
+{
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+  "width": 57,
+  "layout": [
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+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
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index 0000000000000000000000000000000000000000..6dfb022479e28ccf00b6467312cfd3f56d002441
--- /dev/null
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+{
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+}
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--- /dev/null
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diff --git a/inputs/human_hand/pulldrawer/ep000017/pinhole_migration.json b/inputs/human_hand/pulldrawer/ep000017/pinhole_migration.json
new file mode 100644
index 0000000000000000000000000000000000000000..df3d01328fb5fe0a405596bf6af4dcefc6378c7a
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000017/pinhole_migration.json
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+{
+  "schema_version": "acwmbench.ego.pinhole_migration.v1",
+  "task": "pulldrawer",
+  "episode": "ep000017",
+  "views": [
+    "top_head",
+    "hand_left",
+    "hand_right"
+  ],
+  "width": 640,
+  "height": 480,
+  "hfov_deg": 90.0,
+  "view_pitch_deg": 38.0,
+  "controls_transformed": false,
+  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
+  "mask_stats": {
+    "prompt": {
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+      "pinhole_nonzero": 49509626.0,
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+}
diff --git a/inputs/human_hand/pulldrawer/ep000017/source_map.json b/inputs/human_hand/pulldrawer/ep000017/source_map.json
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+}
diff --git a/inputs/human_hand/pulldrawer/ep000017/trajectory.parquet b/inputs/human_hand/pulldrawer/ep000017/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..15b58d4e96827c9796242e85d6ce96b7134e9c76
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000017/trajectory.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:002b6cf16aea82422ee88511d123913394043d674dff9c25121137639aca92a7
+size 7670742
diff --git a/inputs/human_hand/pulldrawer/ep000018/calibration.json b/inputs/human_hand/pulldrawer/ep000018/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e0edf7b99a2b3fee0cdb236f184ac78cc60ce61
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000018/calibration.json
@@ -0,0 +1,506 @@
+{
+  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
+  "episode_index": 18,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
+      "source_camera": "head_fisheye",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Fx": 320.00000000000006,
+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_T_left": {
+          "rotation": {
+            "x": 0.0009442228132370642,
+            "y": 0.0002965523734030786,
+            "z": 2.7778272304765542e-05,
+            "w": 0.9999995098640481
+          },
+          "translation": {
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+            "y": -0.00044053462609449333,
+            "z": 0.0010914965841121059
+          }
+        },
+        "extrinsic_head_fisheye_left_T_left": {
+          "rotation": {
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+            "y": -0.42865062258823455,
+            "z": -0.19933934578868262,
+            "w": 0.8811976106036848
+          },
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+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        },
+        "extrinsic_head_fisheye_right_T_left": {
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+            "z": 0.20065156149051988,
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+          }
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+      "resolution": {
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+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
+          "Cx": 401.24334716796875,
+          "Cy": 299.5632019042969,
+          "Fx": 224.22935485839844,
+          "Fy": 224.09205627441406,
+          "height": 600,
+          "k1": 0.057993289083242416,
+          "k2": 0.01816844940185547,
+          "k3": -0.008063109591603279,
+          "k4": 0.0006919464212842286,
+          "width": 800
+        },
+        "source_to_virtual_rotation": [
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+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_left": {
+      "source_camera": "head_fisheye_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
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+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
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+        "height": 480
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+      "rectification": {
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+        "source_intrinsics": {
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+          "width": 960
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+        "source_to_virtual_rotation": [
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+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.7880107536067219,
+            -0.6156614753256583
+          ],
+          [
+            0.0,
+            0.6156614753256583,
+            0.7880107536067219
+          ]
+        ],
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Fx": 320.00000000000006,
+        "Fy": 320.00000000000006,
+        "Cx": 320.0,
+        "Cy": 240.0,
+        "width": 640,
+        "height": 480
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_right_T_left": {
+          "rotation": {
+            "x": 0.0003976459684297884,
+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
+          },
+          "translation": {
+            "x": 0.11023896172779998,
+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
+          }
+        }
+      },
+      "resolution": {
+        "width": 640,
+        "height": 480
+      },
+      "rectification": {
+        "source_projection_model": "opencv_fisheye",
+        "source_intrinsics": {
+          "Cx": 480.4215393066406,
+          "Cy": 299.4262390136719,
+          "Fx": 223.5740509033203,
+          "Fy": 223.46319580078125,
+          "height": 600,
+          "k1": 0.05835850164294243,
+          "k2": 0.017698010429739952,
+          "k3": -0.007227227091789246,
+          "k4": 0.0004160731041338295,
+          "width": 960
+        },
+        "source_to_virtual_rotation": [
+          [
+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.7880107536067219,
+            -0.6156614753256583
+          ],
+          [
+            0.0,
+            0.6156614753256583,
+            0.7880107536067219
+          ]
+        ],
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
+      },
+      "extrinsics_reference_frame": "source_fisheye_camera"
+    },
+    "head_stereo_left": {
+      "source_camera": "head_stereo_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Cx": 481.39990234375,
+        "Cy": 298.59674072265625,
+        "Fx": 300.0994873046875,
+        "Fy": 300.0945129394531,
+        "height": 600,
+        "k1": 0.23313209414482117,
+        "k2": -0.013054169714450836,
+        "k3": -0.02656524069607258,
+        "k4": 0.008368264883756638,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_left_T_imu": {
+          "rotation": {
+            "x": 0.999970395486808,
+            "y": -0.005711054071957077,
+            "z": -0.0016198635801491547,
+            "w": -0.004895717855982548
+          },
+          "translation": {
+            "x": 0.004417393018733836,
+            "y": -0.0042354069095445705,
+            "z": -0.017029698432489374
+          }
+        },
+        "extrinsic_head_stereo_left_T_right": {
+          "rotation": {
+            "x": -0.0014040695076892229,
+            "y": 0.0010112171798395235,
+            "z": -0.0002191893102376494,
+            "w": 0.9999984789911828
+          },
+          "translation": {
+            "x": -0.06050456252912958,
+            "y": -0.00012716207060800203,
+            "z": -0.00025589655066818193
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_right": {
+      "source_camera": "head_stereo_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Cx": 480.90869140625,
+        "Cy": 300.6904602050781,
+        "Fx": 300.04974365234375,
+        "Fy": 299.9335632324219,
+        "height": 600,
+        "k1": 0.23226110637187958,
+        "k2": -0.01877696067094803,
+        "k3": -0.019749220460653305,
+        "k4": 0.00620193500071764,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_right_T_imu": {
+          "rotation": {
+            "x": 0.9999591107589757,
+            "y": -0.0059275519736941866,
+            "z": -0.002624102731710321,
+            "w": -0.006305158409659226
+          },
+          "translation": {
+            "x": 0.06491403504737772,
+            "y": -0.005074571574618962,
+            "z": -0.01760922065052973
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    }
+  },
+  "source_calibration": {
+    "extrinsic_head_fisheye_T_left": {
+      "rotation": {
+        "x": 0.0009442228132370642,
+        "y": 0.0002965523734030786,
+        "z": 2.7778272304765542e-05,
+        "w": 0.9999995098640481
+      },
+      "translation": {
+        "x": 0.03061258879177004,
+        "y": -0.00044053462609449333,
+        "z": 0.0010914965841121059
+      }
+    },
+    "extrinsic_head_fisheye_left_T_left": {
+      "rotation": {
+        "x": 0.00363868679823883,
+        "y": -0.42865062258823455,
+        "z": -0.19933934578868262,
+        "w": 0.8811976106036848
+      },
+      "translation": {
+        "x": -0.05050148006484744,
+        "y": 0.014694437626401657,
+        "z": -0.028958392523767598
+      }
+    },
+    "extrinsic_head_fisheye_right_T_left": {
+      "rotation": {
+        "x": 0.0003976459684297884,
+        "y": 0.42641808299703304,
+        "z": 0.20065156149051988,
+        "w": 0.8819900289925252
+      },
+      "translation": {
+        "x": 0.11023896172779998,
+        "y": 0.013827394575498546,
+        "z": -0.02812516971803584
+      }
+    },
+    "extrinsic_head_stereo_left_T_imu": {
+      "rotation": {
+        "x": 0.999970395486808,
+        "y": -0.005711054071957077,
+        "z": -0.0016198635801491547,
+        "w": -0.004895717855982548
+      },
+      "translation": {
+        "x": 0.004417393018733836,
+        "y": -0.0042354069095445705,
+        "z": -0.017029698432489374
+      }
+    },
+    "extrinsic_head_stereo_left_T_right": {
+      "rotation": {
+        "x": -0.0014040695076892229,
+        "y": 0.0010112171798395235,
+        "z": -0.0002191893102376494,
+        "w": 0.9999984789911828
+      },
+      "translation": {
+        "x": -0.06050456252912958,
+        "y": -0.00012716207060800203,
+        "z": -0.00025589655066818193
+      }
+    },
+    "extrinsic_head_stereo_right_T_imu": {
+      "rotation": {
+        "x": 0.9999591107589757,
+        "y": -0.0059275519736941866,
+        "z": -0.002624102731710321,
+        "w": -0.006305158409659226
+      },
+      "translation": {
+        "x": 0.06491403504737772,
+        "y": -0.005074571574618962,
+        "z": -0.01760922065052973
+      }
+    },
+    "intrinsic_head_fisheye": {
+      "Cx": 401.24334716796875,
+      "Cy": 299.5632019042969,
+      "Fx": 224.22935485839844,
+      "Fy": 224.09205627441406,
+      "height": 600,
+      "k1": 0.057993289083242416,
+      "k2": 0.01816844940185547,
+      "k3": -0.008063109591603279,
+      "k4": 0.0006919464212842286,
+      "width": 800
+    },
+    "intrinsic_head_fisheye_left": {
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+      "Cy": 299.9506530761719,
+      "Fx": 223.04345703125,
+      "Fy": 223.11749267578125,
+      "height": 600,
+      "k1": 0.06008125841617584,
+      "k2": 0.015944620594382286,
+      "k3": -0.006167862098664045,
+      "k4": 0.00022500510385725647,
+      "width": 960
+    },
+    "intrinsic_head_fisheye_right": {
+      "Cx": 480.4215393066406,
+      "Cy": 299.4262390136719,
+      "Fx": 223.5740509033203,
+      "Fy": 223.46319580078125,
+      "height": 600,
+      "k1": 0.05835850164294243,
+      "k2": 0.017698010429739952,
+      "k3": -0.007227227091789246,
+      "k4": 0.0004160731041338295,
+      "width": 960
+    },
+    "intrinsic_head_imu": {
+      "acc_n": 0.0005510443172649928,
+      "acc_w": 2.9547641343712726e-05,
+      "gyro_n": 0.0008512645105958214,
+      "gyro_w": 8.042016530226203e-06,
+      "timeshift_fisheye_cam_imu": 0.0032943932938084845
+    },
+    "intrinsic_head_stereo_left": {
+      "Cx": 481.39990234375,
+      "Cy": 298.59674072265625,
+      "Fx": 300.0994873046875,
+      "Fy": 300.0945129394531,
+      "height": 600,
+      "k1": 0.23313209414482117,
+      "k2": -0.013054169714450836,
+      "k3": -0.02656524069607258,
+      "k4": 0.008368264883756638,
+      "width": 960
+    },
+    "intrinsic_head_stereo_right": {
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+      "Cy": 300.6904602050781,
+      "Fx": 300.04974365234375,
+      "Fy": 299.9335632324219,
+      "height": 600,
+      "k1": 0.23226110637187958,
+      "k2": -0.01877696067094803,
+      "k3": -0.019749220460653305,
+      "k4": 0.00620193500071764,
+      "width": 960
+    },
+    "suppiler_flag": {
+      "head_fisheye": "383100008901V01AA1VA069126071000489",
+      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
+      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
+      "head_stereo_left": "383100008901V01AA1VA069126071000489",
+      "head_stereo_right": "383100008901V01AA1VA069126071000489",
+      "suppiler": 0
+    }
+  },
+  "source_calibration_file": "calibration_fisheye.json",
+  "active_views": {
+    "top_head": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_left": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_right": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    }
+  }
+}
diff --git a/inputs/human_hand/pulldrawer/ep000018/calibration_fisheye.json b/inputs/human_hand/pulldrawer/ep000018/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ca9d48174a0a8c57eb970bf94a1b8d5abe565f
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000018/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
+  "schema_version": "acwmbench.ego.calibration.v1",
+  "episode_index": 18,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
+      "source_camera": "head_fisheye",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
+        "Cx": 401.24334716796875,
+        "Cy": 299.5632019042969,
+        "Fx": 224.22935485839844,
+        "Fy": 224.09205627441406,
+        "height": 600,
+        "k1": 0.057993289083242416,
+        "k2": 0.01816844940185547,
+        "k3": -0.008063109591603279,
+        "k4": 0.0006919464212842286,
+        "width": 800
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_T_left": {
+          "rotation": {
+            "x": 0.0009442228132370642,
+            "y": 0.0002965523734030786,
+            "z": 2.7778272304765542e-05,
+            "w": 0.9999995098640481
+          },
+          "translation": {
+            "x": 0.03061258879177004,
+            "y": -0.00044053462609449333,
+            "z": 0.0010914965841121059
+          }
+        },
+        "extrinsic_head_fisheye_left_T_left": {
+          "rotation": {
+            "x": 0.00363868679823883,
+            "y": -0.42865062258823455,
+            "z": -0.19933934578868262,
+            "w": 0.8811976106036848
+          },
+          "translation": {
+            "x": -0.05050148006484744,
+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        },
+        "extrinsic_head_fisheye_right_T_left": {
+          "rotation": {
+            "x": 0.0003976459684297884,
+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
+          },
+          "translation": {
+            "x": 0.11023896172779998,
+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
+          }
+        }
+      },
+      "resolution": {
+        "width": 800,
+        "height": 600
+      }
+    },
+    "hand_left": {
+      "source_camera": "head_fisheye_left",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
+        "Cx": 479.4472961425781,
+        "Cy": 299.9506530761719,
+        "Fx": 223.04345703125,
+        "Fy": 223.11749267578125,
+        "height": 600,
+        "k1": 0.06008125841617584,
+        "k2": 0.015944620594382286,
+        "k3": -0.006167862098664045,
+        "k4": 0.00022500510385725647,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_left_T_left": {
+          "rotation": {
+            "x": 0.00363868679823883,
+            "y": -0.42865062258823455,
+            "z": -0.19933934578868262,
+            "w": 0.8811976106036848
+          },
+          "translation": {
+            "x": -0.05050148006484744,
+            "y": 0.014694437626401657,
+            "z": -0.028958392523767598
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "hand_right": {
+      "source_camera": "head_fisheye_right",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
+      "intrinsics": {
+        "Cx": 480.4215393066406,
+        "Cy": 299.4262390136719,
+        "Fx": 223.5740509033203,
+        "Fy": 223.46319580078125,
+        "height": 600,
+        "k1": 0.05835850164294243,
+        "k2": 0.017698010429739952,
+        "k3": -0.007227227091789246,
+        "k4": 0.0004160731041338295,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_fisheye_right_T_left": {
+          "rotation": {
+            "x": 0.0003976459684297884,
+            "y": 0.42641808299703304,
+            "z": 0.20065156149051988,
+            "w": 0.8819900289925252
+          },
+          "translation": {
+            "x": 0.11023896172779998,
+            "y": 0.013827394575498546,
+            "z": -0.02812516971803584
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_left": {
+      "source_camera": "head_stereo_left",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Cx": 481.39990234375,
+        "Cy": 298.59674072265625,
+        "Fx": 300.0994873046875,
+        "Fy": 300.0945129394531,
+        "height": 600,
+        "k1": 0.23313209414482117,
+        "k2": -0.013054169714450836,
+        "k3": -0.02656524069607258,
+        "k4": 0.008368264883756638,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_left_T_imu": {
+          "rotation": {
+            "x": 0.999970395486808,
+            "y": -0.005711054071957077,
+            "z": -0.0016198635801491547,
+            "w": -0.004895717855982548
+          },
+          "translation": {
+            "x": 0.004417393018733836,
+            "y": -0.0042354069095445705,
+            "z": -0.017029698432489374
+          }
+        },
+        "extrinsic_head_stereo_left_T_right": {
+          "rotation": {
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+            "y": 0.0010112171798395235,
+            "z": -0.0002191893102376494,
+            "w": 0.9999984789911828
+          },
+          "translation": {
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+            "y": -0.00012716207060800203,
+            "z": -0.00025589655066818193
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    },
+    "head_stereo_right": {
+      "source_camera": "head_stereo_right",
+      "camera_mount": "head",
+      "projection_model": "pinhole",
+      "intrinsics": {
+        "Cx": 480.90869140625,
+        "Cy": 300.6904602050781,
+        "Fx": 300.04974365234375,
+        "Fy": 299.9335632324219,
+        "height": 600,
+        "k1": 0.23226110637187958,
+        "k2": -0.01877696067094803,
+        "k3": -0.019749220460653305,
+        "k4": 0.00620193500071764,
+        "width": 960
+      },
+      "extrinsics": {
+        "extrinsic_head_stereo_right_T_imu": {
+          "rotation": {
+            "x": 0.9999591107589757,
+            "y": -0.0059275519736941866,
+            "z": -0.002624102731710321,
+            "w": -0.006305158409659226
+          },
+          "translation": {
+            "x": 0.06491403504737772,
+            "y": -0.005074571574618962,
+            "z": -0.01760922065052973
+          }
+        }
+      },
+      "resolution": {
+        "width": 960,
+        "height": 600
+      }
+    }
+  },
+  "source_calibration": {
+    "extrinsic_head_fisheye_T_left": {
+      "rotation": {
+        "x": 0.0009442228132370642,
+        "y": 0.0002965523734030786,
+        "z": 2.7778272304765542e-05,
+        "w": 0.9999995098640481
+      },
+      "translation": {
+        "x": 0.03061258879177004,
+        "y": -0.00044053462609449333,
+        "z": 0.0010914965841121059
+      }
+    },
+    "extrinsic_head_fisheye_left_T_left": {
+      "rotation": {
+        "x": 0.00363868679823883,
+        "y": -0.42865062258823455,
+        "z": -0.19933934578868262,
+        "w": 0.8811976106036848
+      },
+      "translation": {
+        "x": -0.05050148006484744,
+        "y": 0.014694437626401657,
+        "z": -0.028958392523767598
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diff --git a/inputs/human_hand/pulldrawer/ep000018/controls/action_57d_spec.json b/inputs/human_hand/pulldrawer/ep000018/controls/action_57d_spec.json
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index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000018/controls/action_57d_spec.json
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+{
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+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
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--- /dev/null
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+{
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+}
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diff --git a/inputs/human_hand/pulldrawer/ep000018/trajectory.parquet b/inputs/human_hand/pulldrawer/ep000018/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5edb1977af5a268506a6791e0b0c6c22bbef7ae8
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000018/trajectory.parquet
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b11c24319d7f021b56734c9338154cb16776911881a4217c7a82381310e3b82b
+size 8007707
diff --git a/inputs/human_hand/pulldrawer/ep000024/calibration.json b/inputs/human_hand/pulldrawer/ep000024/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..18ca0d3289fec4ed81da2431beb5411fc82d5318
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000024/calibration.json
@@ -0,0 +1,506 @@
+{
+  "schema_version": "acwmbench.ego.calibration.pinhole.v1",
+  "episode_index": 24,
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+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
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+      "extrinsics_reference_frame": "source_fisheye_camera"
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+        "note": "Physical extrinsics remain expressed in the source fisheye camera frame. Apply source_to_virtual_rotation when projecting physical controls into this virtual pinhole image."
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+      "head_stereo_right": "383100008901V01AA1VA069126071000489",
+      "suppiler": 0
+    }
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+  "source_calibration_file": "calibration_fisheye.json",
+  "active_views": {
+    "top_head": {
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+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_left": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    },
+    "hand_right": {
+      "projection_model": "pinhole",
+      "width": 640,
+      "height": 480,
+      "hfov_deg": 90.0,
+      "view_pitch_deg": 38.0
+    }
+  }
+}
diff --git a/inputs/human_hand/pulldrawer/ep000024/calibration_fisheye.json b/inputs/human_hand/pulldrawer/ep000024/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..565bb6df237639d3cd768404c5ad69bdd5340edf
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000024/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
+  "schema_version": "acwmbench.ego.calibration.v1",
+  "episode_index": 24,
+  "view_aliases": {
+    "top_head": "head_fisheye",
+    "hand_left": "head_fisheye_left",
+    "hand_right": "head_fisheye_right"
+  },
+  "alias_warning": "hand_left and hand_right are compatibility aliases for head-mounted fisheye cameras; they are not wrist cameras.",
+  "cameras": {
+    "top_head": {
+      "source_camera": "head_fisheye",
+      "camera_mount": "head",
+      "projection_model": "opencv_fisheye",
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+    "hand_right": {
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+      "resolution": {
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+        "height": 600
+      }
+    }
+  },
+  "source_calibration": {
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+      }
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+    "extrinsic_head_fisheye_right_T_left": {
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+      "timeshift_fisheye_cam_imu": 0.0032943932938084845
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+    "intrinsic_head_stereo_left": {
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+      "width": 960
+    },
+    "suppiler_flag": {
+      "head_fisheye": "383100008901V01AA1VA069126071000489",
+      "head_fisheye_left": "382200016501V01AA1VA069126061402510",
+      "head_fisheye_right": "382200017101V01AA1VA069126061302311",
+      "head_stereo_left": "383100008901V01AA1VA069126071000489",
+      "head_stereo_right": "383100008901V01AA1VA069126071000489",
+      "suppiler": 0
+    }
+  }
+}
diff --git a/inputs/human_hand/pulldrawer/ep000024/controls/action_57d_spec.json b/inputs/human_hand/pulldrawer/ep000024/controls/action_57d_spec.json
new file mode 100644
index 0000000000000000000000000000000000000000..607fb48f017bdf5f32cdf17f938a1a4c86acc259
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000024/controls/action_57d_spec.json
@@ -0,0 +1,60 @@
+{
+  "schema": "cosmos3.human_hand_pose.backward_framewise.v1",
+  "width": 57,
+  "layout": [
+    {
+      "name": "camera_delta",
+      "indices": [
+        0,
+        9
+      ],
+      "encoding": "xyz+rot6d"
+    },
+    {
+      "name": "right_wrist_world_delta",
+      "indices": [
+        9,
+        18
+      ],
+      "encoding": "xyz+rot6d"
+    },
+    {
+      "name": "right_fingertips_in_wrist",
+      "indices": [
+        18,
+        33
+      ],
+      "joint_indices": [
+        4,
+        8,
+        12,
+        16,
+        20
+      ]
+    },
+    {
+      "name": "left_wrist_world_delta",
+      "indices": [
+        33,
+        42
+      ],
+      "encoding": "xyz+rot6d"
+    },
+    {
+      "name": "left_fingertips_in_wrist",
+      "indices": [
+        42,
+        57
+      ],
+      "joint_indices": [
+        4,
+        8,
+        12,
+        16,
+        20
+      ]
+    }
+  ],
+  "alignment": "Cosmos3 HumanHandPoseLeRobotDataset",
+  "row_alignment": "row 0 is an initial identity transition; rows i>0 encode source frame i-1 to i"
+}
diff --git a/inputs/human_hand/pulldrawer/ep000024/controls/hand_camera_poses.npz b/inputs/human_hand/pulldrawer/ep000024/controls/hand_camera_poses.npz
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diff --git a/inputs/human_hand/pulldrawer/ep000024/metadata.json b/inputs/human_hand/pulldrawer/ep000024/metadata.json
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--- /dev/null
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+{
+  "schema_version": "acwmbench.inference.ego.v1",
+  "task_name": "pulldrawer",
+  "episode_index": 24,
+  "episode_name": "ep000024",
+  "fps": 15.0,
+  "num_frames": 1871,
+  "num_transitions": 1870,
+  "seed_local_index": 0,
+  "embodiment": "ego_human_bimanual",
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+      "hand_right": "observations/hand_right.png",
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+      "head_stereo_right": "observations/head_stereo_right.png"
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+    "controls": {
+      "hand_camera_poses": "controls/hand_camera_poses.npz",
+      "action_57d_spec": "controls/action_57d_spec.json"
+    },
+    "fisheye_calibration": "calibration_fisheye.json",
+    "fisheye_observations": {
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+      "hand_left": "observations/fisheye/hand_left.png",
+      "hand_right": "observations/fisheye/hand_right.png"
+    }
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+  "active_projection": {
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+    "width": 640,
+    "height": 480,
+    "hfov_deg": 90.0,
+    "view_pitch_deg": 38.0
+  }
+}
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+{
+  "schema_version": "acwmbench.ego.pinhole_migration.v1",
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index 0000000000000000000000000000000000000000..9a012b162c6b1f904655f5a49f9e669841c6296b
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+size 7742811
diff --git a/inputs/human_hand/pulldrawer/ep000026/calibration.json b/inputs/human_hand/pulldrawer/ep000026/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..d456e57e78abad85c6ec229f38cb15d0bd4aa03f
--- /dev/null
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+{
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+}
diff --git a/inputs/human_hand/pulldrawer/ep000026/calibration_fisheye.json b/inputs/human_hand/pulldrawer/ep000026/calibration_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5206ec857f0859291b43b21f60ac5015a89053a
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000026/calibration_fisheye.json
@@ -0,0 +1,386 @@
+{
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--- /dev/null
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+{
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+}
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+  "task": "pulldrawer",
+  "episode": "ep000026",
+  "views": [
+    "top_head",
+    "hand_left",
+    "hand_right"
+  ],
+  "width": 640,
+  "height": 480,
+  "hfov_deg": 90.0,
+  "view_pitch_deg": 38.0,
+  "controls_transformed": false,
+  "controls_note": "Physical controls and 57D actions are unchanged. Calibration contains the source-to-virtual rotation required for projection.",
+  "mask_stats": {
+    "prompt": {
+      "source_nonzero": 18679548.0,
+      "pinhole_nonzero": 40169816.0,
+      "area_ratio": 2.150470450355651
+    },
+    "multiview_masks/top_head": {
+      "source_nonzero": 42061331.0,
+      "pinhole_nonzero": 79359314.0,
+      "area_ratio": 1.8867523236485313
+    },
+    "multiview_masks/hand_left": {
+      "source_nonzero": 29266428.0,
+      "pinhole_nonzero": 60289243.0,
+      "area_ratio": 2.060013712640299
+    },
+    "multiview_masks/hand_right": {
+      "source_nonzero": 36339080.0,
+      "pinhole_nonzero": 61804667.0,
+      "area_ratio": 1.7007768771251226
+    }
+  },
+  "created_unix": 1789880586.5079975
+}
diff --git a/inputs/human_hand/pulldrawer/ep000026/source_map.json b/inputs/human_hand/pulldrawer/ep000026/source_map.json
new file mode 100644
index 0000000000000000000000000000000000000000..2995df21b9ae767c9cd8d91fcfefb6f30c1bcaab
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000026/source_map.json
@@ -0,0 +1,1922 @@
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diff --git a/inputs/human_hand/pulldrawer/ep000026/trajectory.parquet b/inputs/human_hand/pulldrawer/ep000026/trajectory.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..916f63a167ccf707110aa17d73311e56cb045732
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/ep000026/trajectory.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d0ac8e3bd16411207506f0a5ada5f82b989befb717fa41b87bf6dbeb0e2883
+size 7718473
diff --git a/inputs/human_hand/pulldrawer/schema.json b/inputs/human_hand/pulldrawer/schema.json
new file mode 100644
index 0000000000000000000000000000000000000000..79d4df66d2c3797ecd9aaf82a4532c96448e0559
--- /dev/null
+++ b/inputs/human_hand/pulldrawer/schema.json
@@ -0,0 +1,558 @@
+{
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+  "embodiment": "ego_human_bimanual",
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+          ]
+        },
+        "hand_state/right/valid": {
+          "description": "right hand valid",
+          "dimensions": 1,
+          "indices": [
+            295
+          ]
+        },
+        "head_camera/orientation": {
+          "description": "camera-to-world XYZW quaternion",
+          "dimensions": 4,
+          "indices": [
+            296,
+            297,
+            298,
+            299
+          ]
+        },
+        "head_camera/position": {
+          "description": "camera-to-world XYZ position",
+          "dimensions": 3,
+          "indices": [
+            300,
+            301,
+            302
+          ]
+        },
+        "head_camera/valid": {
+          "description": "camera pose valid",
+          "dimensions": 1,
+          "indices": [
+            303
+          ]
+        }
+      }
+    },
+    "observation.aux": {
+      "dtype": "float32",
+      "shape": [
+        19
+      ]
+    },
+    "observation.source_state": {
+      "dtype": "float32",
+      "shape": [
+        635
+      ]
+    }
+  },
+  "views": {
+    "top_head": {
+      "source": "head_fisheye",
+      "mount": "head",
+      "compatibility_alias": true,
+      "active_projection": {
+        "model": "pinhole",
+        "width": 640,
+        "height": 480,
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "source_model": "opencv_fisheye",
+        "source_backup": {
+          "gt": "video/fisheye/<view>",
+          "inference": "observations/fisheye/<view>.png"
+        }
+      },
+      "source_projection": "opencv_fisheye"
+    },
+    "hand_left": {
+      "source": "head_fisheye_left",
+      "mount": "head",
+      "compatibility_alias": true,
+      "active_projection": {
+        "model": "pinhole",
+        "width": 640,
+        "height": 480,
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "source_model": "opencv_fisheye",
+        "source_backup": {
+          "gt": "video/fisheye/<view>",
+          "inference": "observations/fisheye/<view>.png"
+        }
+      },
+      "source_projection": "opencv_fisheye"
+    },
+    "hand_right": {
+      "source": "head_fisheye_right",
+      "mount": "head",
+      "compatibility_alias": true,
+      "active_projection": {
+        "model": "pinhole",
+        "width": 640,
+        "height": 480,
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "source_model": "opencv_fisheye",
+        "source_backup": {
+          "gt": "video/fisheye/<view>",
+          "inference": "observations/fisheye/<view>.png"
+        }
+      },
+      "source_projection": "opencv_fisheye"
+    },
+    "head_stereo_left": {
+      "source": "head_stereo_left",
+      "mount": "head",
+      "compatibility_alias": false
+    },
+    "head_stereo_right": {
+      "source": "head_stereo_right",
+      "mount": "head",
+      "compatibility_alias": false
+    }
+  },
+  "active_projection": {
+    "model": "pinhole",
+    "width": 640,
+    "height": 480,
+    "hfov_deg": 90.0,
+    "view_pitch_deg": 38.0,
+    "source_model": "opencv_fisheye",
+    "source_backup": {
+      "gt": "video/fisheye/<view>",
+      "inference": "observations/fisheye/<view>.png"
+    }
+  }
+}
diff --git a/inputs/human_hand/schema.json b/inputs/human_hand/schema.json
new file mode 100644
index 0000000000000000000000000000000000000000..79d4df66d2c3797ecd9aaf82a4532c96448e0559
--- /dev/null
+++ b/inputs/human_hand/schema.json
@@ -0,0 +1,558 @@
+{
+  "schema_version": "acwmbench.inference.ego.v1",
+  "embodiment": "ego_human_bimanual",
+  "fps": 15.0,
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        57
+      ],
+      "field_descriptions": {
+        "camera_delta": {
+          "description": "camera xyz + rot6d delta",
+          "dimensions": 9,
+          "indices": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8
+          ]
+        },
+        "right_wrist_world_delta": {
+          "description": "right wrist world xyz + rot6d delta",
+          "dimensions": 9,
+          "indices": [
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17
+          ]
+        },
+        "right_fingertips_in_wrist": {
+          "description": "five right fingertip XYZ positions in aligned wrist frame",
+          "dimensions": 15,
+          "indices": [
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32
+          ]
+        },
+        "left_wrist_world_delta": {
+          "description": "left wrist world xyz + rot6d delta",
+          "dimensions": 9,
+          "indices": [
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41
+          ]
+        },
+        "left_fingertips_in_wrist": {
+          "description": "five left fingertip XYZ positions in aligned wrist frame",
+          "dimensions": 15,
+          "indices": [
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56
+          ]
+        }
+      }
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        304
+      ],
+      "field_descriptions": {
+        "hand_state/left/ori": {
+          "description": "21 XYZW quaternions",
+          "dimensions": 84,
+          "indices": [
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+        "hand_state/left/pos": {
+          "description": "21 XYZ positions in camera frame",
+          "dimensions": 63,
+          "indices": [
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+            145,
+            146
+          ]
+        },
+        "hand_state/left/valid": {
+          "description": "left hand valid",
+          "dimensions": 1,
+          "indices": [
+            147
+          ]
+        },
+        "hand_state/right/ori": {
+          "description": "21 XYZW quaternions",
+          "dimensions": 84,
+          "indices": [
+            148,
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+        "hand_state/right/pos": {
+          "description": "21 XYZ positions in camera frame",
+          "dimensions": 63,
+          "indices": [
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+            290,
+            291,
+            292,
+            293,
+            294
+          ]
+        },
+        "hand_state/right/valid": {
+          "description": "right hand valid",
+          "dimensions": 1,
+          "indices": [
+            295
+          ]
+        },
+        "head_camera/orientation": {
+          "description": "camera-to-world XYZW quaternion",
+          "dimensions": 4,
+          "indices": [
+            296,
+            297,
+            298,
+            299
+          ]
+        },
+        "head_camera/position": {
+          "description": "camera-to-world XYZ position",
+          "dimensions": 3,
+          "indices": [
+            300,
+            301,
+            302
+          ]
+        },
+        "head_camera/valid": {
+          "description": "camera pose valid",
+          "dimensions": 1,
+          "indices": [
+            303
+          ]
+        }
+      }
+    },
+    "observation.aux": {
+      "dtype": "float32",
+      "shape": [
+        19
+      ]
+    },
+    "observation.source_state": {
+      "dtype": "float32",
+      "shape": [
+        635
+      ]
+    }
+  },
+  "views": {
+    "top_head": {
+      "source": "head_fisheye",
+      "mount": "head",
+      "compatibility_alias": true,
+      "active_projection": {
+        "model": "pinhole",
+        "width": 640,
+        "height": 480,
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "source_model": "opencv_fisheye",
+        "source_backup": {
+          "gt": "video/fisheye/<view>",
+          "inference": "observations/fisheye/<view>.png"
+        }
+      },
+      "source_projection": "opencv_fisheye"
+    },
+    "hand_left": {
+      "source": "head_fisheye_left",
+      "mount": "head",
+      "compatibility_alias": true,
+      "active_projection": {
+        "model": "pinhole",
+        "width": 640,
+        "height": 480,
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "source_model": "opencv_fisheye",
+        "source_backup": {
+          "gt": "video/fisheye/<view>",
+          "inference": "observations/fisheye/<view>.png"
+        }
+      },
+      "source_projection": "opencv_fisheye"
+    },
+    "hand_right": {
+      "source": "head_fisheye_right",
+      "mount": "head",
+      "compatibility_alias": true,
+      "active_projection": {
+        "model": "pinhole",
+        "width": 640,
+        "height": 480,
+        "hfov_deg": 90.0,
+        "view_pitch_deg": 38.0,
+        "source_model": "opencv_fisheye",
+        "source_backup": {
+          "gt": "video/fisheye/<view>",
+          "inference": "observations/fisheye/<view>.png"
+        }
+      },
+      "source_projection": "opencv_fisheye"
+    },
+    "head_stereo_left": {
+      "source": "head_stereo_left",
+      "mount": "head",
+      "compatibility_alias": false
+    },
+    "head_stereo_right": {
+      "source": "head_stereo_right",
+      "mount": "head",
+      "compatibility_alias": false
+    }
+  },
+  "active_projection": {
+    "model": "pinhole",
+    "width": 640,
+    "height": 480,
+    "hfov_deg": 90.0,
+    "view_pitch_deg": 38.0,
+    "source_model": "opencv_fisheye",
+    "source_backup": {
+      "gt": "video/fisheye/<view>",
+      "inference": "observations/fisheye/<view>.png"
+    }
+  }
+}
diff --git a/inputs/human_hand/shared/ego_human/baseline_adapters.json b/inputs/human_hand/shared/ego_human/baseline_adapters.json
new file mode 100644
index 0000000000000000000000000000000000000000..60bd8f6778a6869fcf6c068508eeb4097da28c6b
--- /dev/null
+++ b/inputs/human_hand/shared/ego_human/baseline_adapters.json
@@ -0,0 +1,53 @@
+{
+  "canonical_view": "top_head",
+  "canonical_fps": 15.0,
+  "adapters": {
+    "cosmos3_nano": {
+      "status": "ready",
+      "inputs": [
+        "observations/top_head.png",
+        "trajectory.parquet:action"
+      ]
+    },
+    "jointcontrolvideo": {
+      "status": "adapter_ready",
+      "inputs": [
+        "controls/hand_camera_poses.npz"
+      ]
+    },
+    "oscar": {
+      "status": "requires_2d_skeleton_renderer",
+      "inputs": [
+        "controls/hand_camera_poses.npz",
+        "calibration.json"
+      ]
+    },
+    "rynnworld_teleop": {
+      "status": "requires_depth_skeleton_renderer",
+      "inputs": [
+        "controls/hand_camera_poses.npz",
+        "calibration.json"
+      ]
+    },
+    "egohoi": {
+      "status": "requires_object_masks_and_pose_map_adapter",
+      "inputs": [
+        "controls/hand_camera_poses.npz",
+        "calibration.json"
+      ]
+    },
+    "generated_reality": {
+      "status": "adapter_ready_when_checkpoint_available",
+      "inputs": [
+        "controls/hand_camera_poses.npz"
+      ]
+    },
+    "lome": {
+      "status": "requires_action_map_and_camera_ray_renderer",
+      "inputs": [
+        "controls/hand_camera_poses.npz",
+        "calibration.json"
+      ]
+    }
+  }
+}
diff --git a/inputs/human_hand/shared/ego_human/joint_order.json b/inputs/human_hand/shared/ego_human/joint_order.json
new file mode 100644
index 0000000000000000000000000000000000000000..09519b9cfaa0168e5d7ccfd23ddea93d16c6c0b8
--- /dev/null
+++ b/inputs/human_hand/shared/ego_human/joint_order.json
@@ -0,0 +1,13 @@
+{
+  "number_of_joints_per_hand": 21,
+  "wrist_joint_index": 0,
+  "fingertip_joint_indices": [
+    4,
+    8,
+    12,
+    16,
+    20
+  ],
+  "orientation": "quaternion_xyzw",
+  "note": "Full semantic joint names are not declared by the source schema."
+}
diff --git a/inputs/human_hand/shared/schema.json b/inputs/human_hand/shared/schema.json
new file mode 100644
index 0000000000000000000000000000000000000000..79d4df66d2c3797ecd9aaf82a4532c96448e0559
--- /dev/null
+++ b/inputs/human_hand/shared/schema.json
@@ -0,0 +1,558 @@
+{
+  "schema_version": "acwmbench.inference.ego.v1",
+  "embodiment": "ego_human_bimanual",
+  "fps": 15.0,
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        57
+      ],
+      "field_descriptions": {
+        "camera_delta": {
+          "description": "camera xyz + rot6d delta",
+          "dimensions": 9,
+          "indices": [
+            0,
+            1,
+            2,
+            3,
+            4,
+            5,
+            6,
+            7,
+            8
+          ]
+        },
+        "right_wrist_world_delta": {
+          "description": "right wrist world xyz + rot6d delta",
+          "dimensions": 9,
+          "indices": [
+            9,
+            10,
+            11,
+            12,
+            13,
+            14,
+            15,
+            16,
+            17
+          ]
+        },
+        "right_fingertips_in_wrist": {
+          "description": "five right fingertip XYZ positions in aligned wrist frame",
+          "dimensions": 15,
+          "indices": [
+            18,
+            19,
+            20,
+            21,
+            22,
+            23,
+            24,
+            25,
+            26,
+            27,
+            28,
+            29,
+            30,
+            31,
+            32
+          ]
+        },
+        "left_wrist_world_delta": {
+          "description": "left wrist world xyz + rot6d delta",
+          "dimensions": 9,
+          "indices": [
+            33,
+            34,
+            35,
+            36,
+            37,
+            38,
+            39,
+            40,
+            41
+          ]
+        },
+        "left_fingertips_in_wrist": {
+          "description": "five left fingertip XYZ positions in aligned wrist frame",
+          "dimensions": 15,
+          "indices": [
+            42,
+            43,
+            44,
+            45,
+            46,
+            47,
+            48,
+            49,
+            50,
+            51,
+            52,
+            53,
+            54,
+            55,
+            56
+          ]
+        }
+      }
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        304
+      ],
+      "field_descriptions": {
+        "hand_state/left/ori": {
+          "description": "21 XYZW quaternions",
+          "dimensions": 84,
+          "indices": [
+            0,
+            1,
+            2,
+            3,
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+      "source": "head_stereo_left",
+      "mount": "head",
+      "compatibility_alias": false
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+}
diff --git a/inputs/policy/README.md b/inputs/policy/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..563585ad177ddc22ae73e48cea5ca5265453e119
--- /dev/null
+++ b/inputs/policy/README.md
@@ -0,0 +1,13 @@
+# ACWMBench Inference Dataset
+
+This self-contained package provides initial RGB observations and aligned
+action/state trajectories for action-conditioned world-model evaluation.
+
+Only the initial observation is included. No future RGB frames are provided;
+predicting future visual outcomes is the responsibility of each model adapter.
+Every episode starts at frame zero, with timestamp equal to `frame_index / fps`.
+Action and state vectors retain their recorded values.
+
+Use `manifest.json` for episode discovery, the JSON schemas for structure, and
+`shared/g02/kinematics.json` for the mesh-free robot description. SHA-256
+manifests support integrity checks.
diff --git a/inputs/policy/hangtowel/ep000003/calibration.json b/inputs/policy/hangtowel/ep000003/calibration.json
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+  "coordinate_convention": "Matrices retain the robot calibration convention.",
+  "schema_version": "acwmbench.inference.v1",
+  "resize_note": "Intrinsics were scaled for direct 640x480 image resizing; extrinsic matrices are unchanged."
+}
diff --git a/inputs/policy/hangtowel/ep000003/metadata.json b/inputs/policy/hangtowel/ep000003/metadata.json
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--- /dev/null
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+{
+  "episode_index": 3,
+  "episode_name": "ep000003",
+  "files": {
+    "calibration": "calibration.json",
+    "observations": {
+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "top_head": "observations/top_head.png"
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+    "trajectory": "trajectory.parquet"
+  },
+  "fps": 30.0,
+  "num_frames": 378,
+  "num_transitions": 377,
+  "schema_version": "acwmbench.inference.v1",
+  "seed_local_index": 0,
+  "task_name": "hangtowel"
+}
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+}
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+    "ep000027",
+    "ep000028",
+    "ep000038",
+    "ep000040",
+    "ep000041",
+    "ep000050",
+    "ep000051",
+    "ep000062",
+    "ep000064",
+    "ep000067",
+    "ep000074",
+    "ep000078",
+    "ep000079",
+    "ep000080",
+    "ep000083"
+  ],
+  "features": {
+    "action": {
+      "dtype": "float32",
+      "shape": [
+        16
+      ]
+    },
+    "observation.state": {
+      "dtype": "float32",
+      "shape": [
+        16
+      ]
+    },
+    "observations": {
+      "hand_left": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      },
+      "hand_right": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      },
+      "top_head": {
+        "color_space": "RGB",
+        "dtype": "uint8",
+        "encoding": "png",
+        "role": "initial_observation"
+      }
+    }
+  },
+  "fps": 30.0,
+  "schema_version": "acwmbench.inference.v1",
+  "task": "pourwater"
+}
diff --git a/inputs/policy/schema.json b/inputs/policy/schema.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3d91c595f345e9057b6a4ca85ffce64b3a26cf5
--- /dev/null
+++ b/inputs/policy/schema.json
@@ -0,0 +1,12 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "additionalProperties": false,
+  "required": [
+    "schema_version",
+    "tasks",
+    "episodes",
+    "kinematics"
+  ],
+  "title": "ACWMBench inference dataset",
+  "type": "object"
+}
diff --git a/inputs/policy/shared/g02/kinematics.json b/inputs/policy/shared/g02/kinematics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f45588ddac50349b26a9fb739d6d225ee3645484
--- /dev/null
+++ b/inputs/policy/shared/g02/kinematics.json
@@ -0,0 +1,165 @@
+{
+  "base_links": [
+    "base_link"
+  ],
+  "joint_count": 53,
+  "joints": [
+    "idx01_body_joint1",
+    "idx02_body_joint2",
+    "idx03_body_joint3",
+    "idx04_body_joint4",
+    "idx05_body_joint5",
+    "idx20_arm_base_joint",
+    "idx10_head_base_joint",
+    "idx11_head_joint1",
+    "idx12_head_joint2",
+    "idx13_head_joint3",
+    "idx100_chassis_base_joint",
+    "idx111_chassis_lwheel_front_joint1",
+    "idx112_chassis_lwheel_front_joint2",
+    "idx131_chassis_rwheel_front_joint1",
+    "idx132_chassis_rwheel_front_joint2",
+    "idx141_chassis_rwheel_rear_joint1",
+    "idx142_chassis_rwheel_rear_joint2",
+    "idx121_chassis_lwheel_rear_joint1",
+    "idx122_chassis_lwheel_rear_joint2",
+    "idx21_arm_l_joint1",
+    "idx22_arm_l_joint2",
+    "idx23_arm_l_joint3",
+    "idx24_arm_l_joint4",
+    "idx25_arm_l_joint5",
+    "idx26_arm_l_joint6",
+    "idx27_arm_l_joint7",
+    "arm_l_end_joint",
+    "idx61_arm_r_joint1",
+    "idx62_arm_r_joint2",
+    "idx63_arm_r_joint3",
+    "idx64_arm_r_joint4",
+    "idx65_arm_r_joint5",
+    "idx66_arm_r_joint6",
+    "idx67_arm_r_joint7",
+    "arm_r_end_joint",
+    "idx30_gripper_l_camera_joint",
+    "idx51_gripper_l_base_joint",
+    "idx52_gripper_l_center_joint",
+    "idx31_gripper_l_inner_joint1",
+    "idx32_gripper_l_outer_joint1",
+    "idx33_gripper_l_left_support_joint",
+    "idx34_gripper_l_inner_joint2",
+    "idx35_gripper_l_outer_joint2",
+    "idx36_gripper_l_right_support_joint",
+    "idx70_gripper_r_camera_joint",
+    "idx91_gripper_r_base_joint",
+    "idx92_gripper_r_center_joint",
+    "idx71_gripper_r_inner_joint1",
+    "idx72_gripper_r_outer_joint1",
+    "idx73_gripper_r_left_support_joint",
+    "idx74_gripper_r_inner_joint2",
+    "idx75_gripper_r_outer_joint2",
+    "idx76_gripper_r_right_support_joint"
+  ],
+  "link_count": 54,
+  "links": [
+    "base_link",
+    "body_link1",
+    "body_link2",
+    "body_link3",
+    "body_link4",
+    "body_link5",
+    "arm_base_link",
+    "head_base_link",
+    "head_link1",
+    "head_link2",
+    "head_link3",
+    "chassis_link",
+    "chassis_lwheel_front_link1",
+    "chassis_lwheel_front_link2",
+    "chassis_rwheel_front_link1",
+    "chassis_rwheel_front_link2",
+    "chassis_rwheel_rear_link1",
+    "chassis_rwheel_rear_link2",
+    "chassis_lwheel_rear_link1",
+    "chassis_lwheel_rear_link2",
+    "arm_l_link1",
+    "arm_l_link2",
+    "arm_l_link3",
+    "arm_l_link4",
+    "arm_l_link5",
+    "arm_l_link6",
+    "arm_l_link7",
+    "arm_l_end_link",
+    "arm_r_link1",
+    "arm_r_link2",
+    "arm_r_link3",
+    "arm_r_link4",
+    "arm_r_link5",
+    "arm_r_link6",
+    "arm_r_link7",
+    "arm_r_end_link",
+    "gripper_l_camera_link",
+    "gripper_l_center_link",
+    "gripper_l_base_link",
+    "gripper_l_left_inner_link",
+    "gripper_l_left_outer_link",
+    "gripper_l_left_support_link",
+    "gripper_l_right_inner_link",
+    "gripper_l_right_outer_link",
+    "gripper_l_right_support_link",
+    "gripper_r_camera_link",
+    "gripper_r_center_link",
+    "gripper_r_base_link",
+    "gripper_r_left_inner_link",
+    "gripper_r_left_outer_link",
+    "gripper_r_left_support_link",
+    "gripper_r_right_inner_link",
+    "gripper_r_right_outer_link",
+    "gripper_r_right_support_link"
+  ],
+  "movable_joints": [
+    "idx01_body_joint1",
+    "idx02_body_joint2",
+    "idx03_body_joint3",
+    "idx04_body_joint4",
+    "idx05_body_joint5",
+    "idx11_head_joint1",
+    "idx12_head_joint2",
+    "idx13_head_joint3",
+    "idx111_chassis_lwheel_front_joint1",
+    "idx112_chassis_lwheel_front_joint2",
+    "idx131_chassis_rwheel_front_joint1",
+    "idx132_chassis_rwheel_front_joint2",
+    "idx141_chassis_rwheel_rear_joint1",
+    "idx142_chassis_rwheel_rear_joint2",
+    "idx121_chassis_lwheel_rear_joint1",
+    "idx122_chassis_lwheel_rear_joint2",
+    "idx21_arm_l_joint1",
+    "idx22_arm_l_joint2",
+    "idx23_arm_l_joint3",
+    "idx24_arm_l_joint4",
+    "idx25_arm_l_joint5",
+    "idx26_arm_l_joint6",
+    "idx27_arm_l_joint7",
+    "idx61_arm_r_joint1",
+    "idx62_arm_r_joint2",
+    "idx63_arm_r_joint3",
+    "idx64_arm_r_joint4",
+    "idx65_arm_r_joint5",
+    "idx66_arm_r_joint6",
+    "idx67_arm_r_joint7",
+    "idx31_gripper_l_inner_joint1",
+    "idx32_gripper_l_outer_joint1",
+    "idx33_gripper_l_left_support_joint",
+    "idx34_gripper_l_inner_joint2",
+    "idx35_gripper_l_outer_joint2",
+    "idx36_gripper_l_right_support_joint",
+    "idx71_gripper_r_inner_joint1",
+    "idx72_gripper_r_outer_joint1",
+    "idx73_gripper_r_left_support_joint",
+    "idx74_gripper_r_inner_joint2",
+    "idx75_gripper_r_outer_joint2",
+    "idx76_gripper_r_right_support_joint"
+  ],
+  "robot": "g02",
+  "schema_version": "acwmbench.inference.v1",
+  "urdf": "kinematics.urdf"
+}
diff --git a/inputs/policy/shared/g02/kinematics.urdf b/inputs/policy/shared/g02/kinematics.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..e7648096b58ecfd80342d169afa4d9f33cff6f6a
--- /dev/null
+++ b/inputs/policy/shared/g02/kinematics.urdf
@@ -0,0 +1,692 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="g02">
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0034754 0.0061443 0.096655" />
+      <mass value="80" />
+      <inertia ixx="0.7115" ixy="-1.6509E-05" ixz="0.011945" iyy="0.82339" iyz="-3.6042E-05" izz="1.3573" />
+    </inertial>
+  </link>
+  <link name="body_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00489400639408126 0.000193106698721912 0.175561673292876" />
+      <mass value="20.7873543330424" />
+      <inertia ixx="0.261032758003677" ixy="0.000602528716197084" ixz="-1.29680162892322E-05" iyy="0.260630471698783" iyz="-0.000709763689000467" izz="0.059577479809498" />
+    </inertial>
+  </link>
+  <link name="body_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00254034356479389 -0.0437019539573708 0.185408475115362" />
+      <mass value="12.4097528419251" />
+      <inertia ixx="0.195214319300036" ixy="-2.0467554323506E-05" ixz="0.00360134174333636" iyy="0.208364581033745" iyz="-4.02135855207347E-05" izz="0.0221456249678955" />
+    </inertial>
+  </link>
+  <link name="body_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000429683996786348 -0.00641623694858151 4.19233757444903E-05" />
+      <mass value="7.34765728790629" />
+      <inertia ixx="0.0253682597505229" ixy="-8.63202978370692E-05" ixz="5.03287620270186E-06" iyy="0.0245465908681745" iyz="0.00010798897559337" izz="0.0236233112440919" />
+    </inertial>
+  </link>
+  <link name="body_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0714497732220123 -6.54615430835531E-05 0.0300405432603843" />
+      <mass value="6.23060984301658" />
+      <inertia ixx="0.0248588323804035" ixy="4.12661173047439E-05" ixz="0.00171366593325419" iyy="0.0315396763705882" iyz="1.37672137570577E-05" izz="0.0278671278403372" />
+    </inertial>
+  </link>
+  <link name="body_link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0244423519676249 0.000202655359185969 0.136945087391502" />
+      <mass value="7.9008845440508" />
+      <inertia ixx="0.0775083196428173" ixy="-2.84236541752216E-05" ixz="-0.000289173735305952" iyy="0.0555694041163671" iyz="-7.14577046048758E-05" izz="0.0426933229005545" />
+    </inertial>
+  </link>
+  <link name="arm_base_link" />
+  <link name="head_base_link" />
+  <link name="head_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00424600804033498 -1.36432084463234E-07 -0.0288855031850013" />
+      <mass value="0.245638470524919" />
+      <inertia ixx="0.000295474845844785" ixy="2.16595664256454E-10" ixz="3.96168576252704E-05" iyy="0.000306992190315694" iyz="9.72631848310033E-10" izz="8.960900480058E-05" />
+    </inertial>
+  </link>
+  <link name="head_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0363590807062005 -0.000333631107655816 -0.00246318093563791" />
+      <mass value="0.0944986936701784" />
+      <inertia ixx="5.65442302061785E-05" ixy="3.12497480897119E-07" ixz="-9.76196362183098E-07" iyy="3.80437118326616E-05" iyz="-4.40659777809432E-08" izz="5.02982854229241E-05" />
+    </inertial>
+  </link>
+  <link name="head_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00327292724863273 2.14734069719363E-05 0.0163618254217082" />
+      <mass value="17.8197028286005" />
+      <inertia ixx="0.0456161978243042" ixy="-3.46049842158625E-06" ixz="-0.000566950981666778" iyy="0.0558096580410143" iyz="-5.53441269801176E-06" izz="0.0712602089203159" />
+    </inertial>
+  </link>
+  <link name="chassis_link" />
+  <link name="chassis_lwheel_front_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="4.8347E-05 -0.021386 -0.055149" />
+      <mass value="0.59301" />
+      <inertia ixx="0.001129" ixy="-6.1014E-07" ixz="-1.4058E-06" iyy="0.00087934" iyz="-0.00039606" izz="0.00056331" />
+    </inertial>
+  </link>
+  <link name="chassis_lwheel_front_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-2.3442E-06 -0.0013086 1.0892E-05" />
+      <mass value="3.6283" />
+      <inertia ixx="0.0058835" ixy="2.2411E-07" ixz="3.433E-08" iyy="0.010779" iyz="3.6966E-07" izz="0.0058842" />
+    </inertial>
+  </link>
+  <link name="chassis_rwheel_front_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-4.8347E-05 0.021386 -0.055149" />
+      <mass value="0.59301" />
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+    </inertial>
+  </link>
+  <link name="chassis_rwheel_front_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.3442E-06 0.0013086 1.0892E-05" />
+      <mass value="3.6283" />
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+    </inertial>
+  </link>
+  <link name="chassis_rwheel_rear_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-4.8347E-05 0.021386 -0.055149" />
+      <mass value="0.59301" />
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+    </inertial>
+  </link>
+  <link name="chassis_rwheel_rear_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.3442E-06 0.0013086 1.0892E-05" />
+      <mass value="3.6283" />
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+    </inertial>
+  </link>
+  <link name="chassis_lwheel_rear_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="4.8347E-05 -0.021386 -0.055149" />
+      <mass value="0.59301" />
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+    </inertial>
+  </link>
+  <link name="chassis_lwheel_rear_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-2.3442E-06 -0.0013086 1.0892E-05" />
+      <mass value="3.6283" />
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+    </inertial>
+  </link>
+  <link name="arm_l_link1">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0002852069731223681 0.005502744685242638 0.1716915827728844" />
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+    </inertial>
+  </link>
+  <link name="arm_l_link2">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-1.7258252271361085e-05 0.12569208525868644 -0.005980632431470852" />
+      <mass value="1.9949962098194485" />
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+    </inertial>
+  </link>
+  <link name="arm_l_link3">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.005791056037173897 -0.006352180061283548 0.25018101691455036" />
+      <mass value="1.9529980404771787" />
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+    </inertial>
+  </link>
+  <link name="arm_l_link4">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.006230695728750006 0.10817512849070382 0.010312600582765868" />
+      <mass value="1.0783498458830951" />
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+    </inertial>
+  </link>
+  <link name="arm_l_link5">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0007250387448980904 -7.346707991586529e-05 0.1425061348434396" />
+      <mass value="1.3397998865337648" />
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+    </inertial>
+  </link>
+  <link name="arm_l_link6">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0024073250390707294 5.841541512545026e-05 -0.0001313004739069249" />
+      <mass value="0.8536479026061873" />
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+    </inertial>
+  </link>
+  <link name="arm_l_link7">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.04645232061746604 0.00021700465689039104 -0.001387544704511245" />
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+    </inertial>
+  </link>
+  <link name="arm_l_end_link" />
+  <link name="arm_r_link1">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.000396461692967904 0.0004039207650472221 0.161846935248848" />
+      <mass value="2.2161276823863068" />
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+  </link>
+  <link name="arm_r_link2">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="1.3195524109270972e-05 0.13840270566732155 -0.0003434186231610878" />
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+    </inertial>
+  </link>
+  <link name="arm_r_link3">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0033020366068284377 -0.0017628897665166235 0.22245778542777955" />
+      <mass value="1.9529994864091598" />
+      <inertia ixx="0.013746363783798732" ixy="-1.048558282930309e-05" ixz="-0.004428784173839739" iyy="0.015390254068546341" iyz="-0.0012732024893495173" izz="0.0024683216060004975" />
+    </inertial>
+  </link>
+  <link name="arm_r_link4">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0007888708975533307 0.07456041665824399 0.005888255566418732" />
+      <mass value="1.0783487527072277" />
+      <inertia ixx="0.005052853988742201" ixy="0.0006098539256357428" ixz="-4.364308014637812e-05" iyy="0.0004761828366242696" iyz="0.0010054713747632822" izz="0.005000758414994163" />
+    </inertial>
+  </link>
+  <link name="arm_r_link5">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.00010734038179910962 -0.00423215738574643 0.16114002377112746" />
+      <mass value="1.3397937294206823" />
+      <inertia ixx="0.020121877290645192" ixy="3.8558618248587625e-05" ixz="0.00019666044091601407" iyy="0.021304152606525135" iyz="-0.0007928415435546802" izz="0.0012464192924239066" />
+    </inertial>
+  </link>
+  <link name="arm_r_link6">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0061638857563311574 -5.9712574900438046e-05 0.00023446171343925477" />
+      <mass value="0.8536449900333944" />
+      <inertia ixx="0.00045451074923473424" ixy="-7.690264180937846e-07" ixz="-2.530146232483547e-06" iyy="0.00036019580476179394" iyz="4.5251006037259764e-07" izz="0.0008077854911437447" />
+    </inertial>
+  </link>
+  <link name="arm_r_link7">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.07165346408884511 -0.00034743397285030733 -0.0013927735479430047" />
+      <mass value="0.3275980361083449" />
+      <inertia ixx="0.000348427501596368" ixy="-1.5947057398365991e-06" ixz="3.5415828255024616e-05" iyy="0.0003538465444444783" iyz="2.7820575624653527e-06" izz="6.831215320944779e-06" />
+    </inertial>
+  </link>
+  <link name="arm_r_end_link" />
+  <link name="gripper_l_camera_link" />
+  <link name="gripper_l_center_link" />
+  <link name="gripper_l_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="3.84872289645122E-06 -4.41448135187968E-05 0.0553867866771657" />
+      <mass value="0.953455976099042" />
+      <inertia ixx="0.00177628843801648" ixy="-8.19676071724033E-10" ixz="-3.00472546877836E-08" iyy="0.00187418176115802" iyz="-3.98009757950365E-07" izz="0.000875448946929789" />
+    </inertial>
+  </link>
+  <link name="gripper_l_left_inner_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071221829 0.0187577877878552 2.21631403129407E-14" />
+      <mass value="0.0309052898336314" />
+      <inertia ixx="4.31215511674771E-06" ixy="-4.26885891149736E-06" ixz="-2.46366467847417E-13" iyy="4.97075221897906E-06" iyz="-2.22956225772745E-13" izz="9.19223373728399E-06" />
+    </inertial>
+  </link>
+  <link name="gripper_l_left_outer_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071221892 0.0187577877882694 2.20960470526592E-14" />
+      <mass value="0.0309052898336316" />
+      <inertia ixx="4.31215511677353E-06" ixy="-4.26885891149938E-06" ixz="-2.46366459463114E-13" iyy="4.9707522189533E-06" iyz="-2.22956217486463E-13" izz="9.19223373728405E-06" />
+    </inertial>
+  </link>
+  <link name="gripper_l_left_support_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0177925864232372 0.0354308985297288 -3.45319167880073E-05" />
+      <mass value="0.0828693338705683" />
+      <inertia ixx="2.73957553511085E-05" ixy="7.04281105447926E-06" ixz="-1.08446711519888E-11" iyy="6.34802949004157E-06" iyz="1.18385736891846E-11" izz="2.83129237821216E-05" />
+    </inertial>
+  </link>
+  <link name="gripper_l_right_inner_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071211299 0.0187577877883374 2.11370080968728E-14" />
+      <mass value="0.0309052898336316" />
+      <inertia ixx="4.31215511674775E-06" ixy="-4.2688589114974E-06" ixz="-2.46366382911271E-13" iyy="4.9707522189791E-06" iyz="-2.22956145920037E-13" izz="9.19223373728407E-06" />
+    </inertial>
+  </link>
+  <link name="gripper_l_right_outer_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071211989 0.0187577877891044 2.11409547592425E-14" />
+      <mass value="0.0309052898336314" />
+      <inertia ixx="4.3121551167735E-06" ixy="-4.26885891149935E-06" ixz="-2.46366386343243E-13" iyy="4.97075221895327E-06" iyz="-2.22956149418598E-13" izz="9.19223373728398E-06" />
+    </inertial>
+  </link>
+  <link name="gripper_l_right_support_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0177925878352495 0.0354308970643828 -2.81887513877937E-08" />
+      <mass value="0.082869359674167" />
+      <inertia ixx="2.73957568837024E-05" ixy="7.04281063834988E-06" ixz="-9.62685216616108E-12" iyy="6.34803242941661E-06" iyz="1.28138996747735E-11" izz="2.83129239152281E-05" />
+    </inertial>
+  </link>
+  <link name="gripper_r_camera_link" />
+  <link name="gripper_r_center_link" />
+  <link name="gripper_r_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="3.84872289645122E-06 -4.41448135187968E-05 0.0553867866771657" />
+      <mass value="0.953455976099042" />
+      <inertia ixx="0.00177628843801648" ixy="-8.19676071724033E-10" ixz="-3.00472546877836E-08" iyy="0.00187418176115802" iyz="-3.98009757950365E-07" izz="0.000875448946929789" />
+    </inertial>
+  </link>
+  <link name="gripper_r_left_inner_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071221829 0.0187577877878552 2.21631403129407E-14" />
+      <mass value="0.0309052898336314" />
+      <inertia ixx="4.31215511674771E-06" ixy="-4.26885891149736E-06" ixz="-2.46366467847417E-13" iyy="4.97075221897906E-06" iyz="-2.22956225772745E-13" izz="9.19223373728399E-06" />
+    </inertial>
+  </link>
+  <link name="gripper_r_left_outer_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071221892 0.0187577877882694 2.20960470526592E-14" />
+      <mass value="0.0309052898336316" />
+      <inertia ixx="4.31215511677353E-06" ixy="-4.26885891149938E-06" ixz="-2.46366459463114E-13" iyy="4.9707522189533E-06" iyz="-2.22956217486463E-13" izz="9.19223373728405E-06" />
+    </inertial>
+  </link>
+  <link name="gripper_r_left_support_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0177925864232372 0.0354308985297288 -3.45319167880073E-05" />
+      <mass value="0.0828693338705683" />
+      <inertia ixx="2.73957553511085E-05" ixy="7.04281105447926E-06" ixz="-1.08446711519888E-11" iyy="6.34802949004157E-06" iyz="1.18385736891846E-11" izz="2.83129237821216E-05" />
+    </inertial>
+  </link>
+  <link name="gripper_r_right_inner_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071211299 0.0187577877883374 2.11370080968728E-14" />
+      <mass value="0.0309052898336316" />
+      <inertia ixx="4.31215511674775E-06" ixy="-4.2688589114974E-06" ixz="-2.46366382911271E-13" iyy="4.9707522189791E-06" iyz="-2.22956145920037E-13" izz="9.19223373728407E-06" />
+    </inertial>
+  </link>
+  <link name="gripper_r_right_outer_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0202604071211989 0.0187577877891044 2.11409547592425E-14" />
+      <mass value="0.0309052898336314" />
+      <inertia ixx="4.3121551167735E-06" ixy="-4.26885891149935E-06" ixz="-2.46366386343243E-13" iyy="4.97075221895327E-06" iyz="-2.22956149418598E-13" izz="9.19223373728398E-06" />
+    </inertial>
+  </link>
+  <link name="gripper_r_right_support_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0177925878352495 0.0354308970643828 -2.81887513877937E-08" />
+      <mass value="0.082869359674167" />
+      <inertia ixx="2.73957568837024E-05" ixy="7.04281063834988E-06" ixz="-9.62685216616108E-12" iyy="6.34803242941661E-06" iyz="1.28138996747735E-11" izz="2.83129239152281E-05" />
+    </inertial>
+  </link>
+  <joint name="idx01_body_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.102 0 0.144" />
+    <parent link="base_link" />
+    <child link="body_link1" />
+    <axis xyz="0 1 0" />
+    <limit effort="50" lower="-1.0822" upper="0.0001" velocity="1.21" />
+  </joint>
+  <joint name="idx02_body_joint2" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.36" />
+    <parent link="body_link1" />
+    <child link="body_link2" />
+    <axis xyz="0 1 0" />
+    <limit effort="50" lower="-0.0001" upper="2.653" velocity="1.21" />
+  </joint>
+  <joint name="idx03_body_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.38" />
+    <parent link="body_link2" />
+    <child link="body_link3" />
+    <axis xyz="0 1 0" />
+    <limit effort="50" lower="-1.907" upper="1.039" velocity="1.21" />
+  </joint>
+  <joint name="idx04_body_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="body_link3" />
+    <child link="body_link4" />
+    <axis xyz="1 0 0" />
+    <limit effort="50" lower="-0.4364" upper="0.4364" velocity="1.21" />
+  </joint>
+  <joint name="idx05_body_joint5" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.149" />
+    <parent link="body_link4" />
+    <child link="body_link5" />
+    <axis xyz="0 0 1" />
+    <limit effort="50" lower="-3.0456" upper="3.0456" velocity="1.21" />
+  </joint>
+  <joint name="idx20_arm_base_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 0" xyz="0.0 0.0 0.3085" />
+    <parent link="body_link5" />
+    <child link="arm_base_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="idx10_head_base_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.013 0 0.496" />
+    <parent link="body_link5" />
+    <child link="head_base_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="idx11_head_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.013 0 0.496" />
+    <parent link="body_link5" />
+    <child link="head_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="50" lower="-1.5708" upper="1.5708" velocity="2.5" />
+  </joint>
+  <joint name="idx12_head_joint2" type="revolute">
+    <origin rpy="0 0 0" xyz="0.03335 0 0.07" />
+    <parent link="head_link1" />
+    <child link="head_link2" />
+    <axis xyz="1 0 0" />
+    <limit effort="50" lower="-0.3491" upper="0.3491" velocity="2.5" />
+  </joint>
+  <joint name="idx13_head_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.03035 0 0" />
+    <parent link="head_link2" />
+    <child link="head_link3" />
+    <axis xyz="0 1 0" />
+    <limit effort="50" lower="-0.5236" upper="0.5236" velocity="2.5" />
+  </joint>
+  <joint name="idx100_chassis_base_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0" />
+    <parent link="base_link" />
+    <child link="chassis_link" />
+  </joint>
+  <joint name="idx111_chassis_lwheel_front_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.23 0.218 0.16675" />
+    <parent link="chassis_link" />
+    <child link="chassis_lwheel_front_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="15" lower="-2.97" upper="2.97" velocity="4.08" />
+  </joint>
+  <joint name="idx112_chassis_lwheel_front_joint2" type="continuous">
+    <origin rpy="0 0 0" xyz="0 -5E-05 -0.13675" />
+    <parent link="chassis_lwheel_front_link1" />
+    <child link="chassis_lwheel_front_link2" />
+    <axis xyz="0 1 0" />
+    <limit effort="8" lower="0" upper="0" velocity="20.9" />
+  </joint>
+  <joint name="idx131_chassis_rwheel_front_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0.23 -0.218 0.16675" />
+    <parent link="chassis_link" />
+    <child link="chassis_rwheel_front_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="15" lower="-2.97" upper="2.97" velocity="4.08" />
+  </joint>
+  <joint name="idx132_chassis_rwheel_front_joint2" type="continuous">
+    <origin rpy="0 0 0" xyz="0 5E-05 -0.13675" />
+    <parent link="chassis_rwheel_front_link1" />
+    <child link="chassis_rwheel_front_link2" />
+    <axis xyz="0 1 0" />
+    <limit effort="8" lower="0" upper="0" velocity="20.9" />
+  </joint>
+  <joint name="idx141_chassis_rwheel_rear_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.23 -0.218 0.16675" />
+    <parent link="chassis_link" />
+    <child link="chassis_rwheel_rear_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="15" lower="-2.97" upper="2.97" velocity="4.08" />
+  </joint>
+  <joint name="idx142_chassis_rwheel_rear_joint2" type="continuous">
+    <origin rpy="0 0 0" xyz="0 5E-05 -0.13675" />
+    <parent link="chassis_rwheel_rear_link1" />
+    <child link="chassis_rwheel_rear_link2" />
+    <axis xyz="0 1 0" />
+    <limit effort="8" lower="0" upper="0" velocity="20.9" />
+  </joint>
+  <joint name="idx121_chassis_lwheel_rear_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.23 0.218 0.16675" />
+    <parent link="chassis_link" />
+    <child link="chassis_lwheel_rear_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="15" lower="-2.97" upper="2.97" velocity="4.08" />
+  </joint>
+  <joint name="idx122_chassis_lwheel_rear_joint2" type="continuous">
+    <origin rpy="0 0 0" xyz="0 -5E-05 -0.13675" />
+    <parent link="chassis_lwheel_rear_link1" />
+    <child link="chassis_lwheel_rear_link2" />
+    <axis xyz="0 1 0" />
+    <limit effort="8" lower="0" upper="0" velocity="20.9" />
+  </joint>
+  <joint name="idx21_arm_l_joint1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.069" />
+    <parent link="arm_base_link" />
+    <child link="arm_l_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="108" lower="-3.0718" upper="3.0718" velocity="3.05" />
+  </joint>
+  <joint name="idx22_arm_l_joint2" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 0 0.1745" />
+    <parent link="arm_l_link1" />
+    <child link="arm_l_link2" />
+    <axis xyz="0 0 1" />
+    <limit effort="108" lower="-2.0595" upper="2.0595" velocity="3.05" />
+  </joint>
+  <joint name="idx23_arm_l_joint3" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="0 0 0" />
+    <parent link="arm_l_link2" />
+    <child link="arm_l_link3" />
+    <axis xyz="0 0 1" />
+    <limit effort="35" lower="-3.0718" upper="3.0718" velocity="3.76" />
+  </joint>
+  <joint name="idx24_arm_l_joint4" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0.0105 0 0.332" />
+    <parent link="arm_l_link3" />
+    <child link="arm_l_link4" />
+    <axis xyz="0 0 1" />
+    <limit effort="35" lower="-2.4959" upper="1.0123" velocity="3.76" />
+  </joint>
+  <joint name="idx25_arm_l_joint5" type="revolute">
+    <origin rpy="-1.5708 0 0" xyz="-0.0105 0 0" />
+    <parent link="arm_l_link4" />
+    <child link="arm_l_link5" />
+    <axis xyz="0 0 1" />
+    <limit effort="35" lower="-3.0718" upper="3.0718" velocity="3.35" />
+  </joint>
+  <joint name="idx26_arm_l_joint6" type="revolute">
+    <origin rpy="1.5708 0 0" xyz="0 0 0.278" />
+    <parent link="arm_l_link5" />
+    <child link="arm_l_link6" />
+    <axis xyz="0 0 1" />
+    <limit effort="18" lower="-1.0123" upper="1.0123" velocity="3.35" />
+  </joint>
+  <joint name="idx27_arm_l_joint7" type="revolute">
+    <origin rpy="1.5708 0 1.5708" xyz="0 0 0" />
+    <parent link="arm_l_link6" />
+    <child link="arm_l_link7" />
+    <axis xyz="0 0 1" />
+    <limit effort="18" lower="-1.5359" upper="1.5359" velocity="3.35" />
+  </joint>
+  <joint name="arm_l_end_joint" type="fixed">
+    <origin rpy="3.141592653589793 -1.5707963267948966 0" xyz="0.09 0.0 0.0" />
+    <parent link="arm_l_link7" />
+    <child link="arm_l_end_link" />
+  </joint>
+  <joint name="idx61_arm_r_joint1" type="revolute">
+    <origin rpy="3.141592653589793 0 0" xyz="0 0 -0.069" />
+    <parent link="arm_base_link" />
+    <child link="arm_r_link1" />
+    <axis xyz="0 0 1" />
+    <limit effort="108" lower="-3.0718" upper="3.0718" velocity="3.05" />
+  </joint>
+  <joint name="idx62_arm_r_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0.1745" />
+    <parent link="arm_r_link1" />
+    <child link="arm_r_link2" />
+    <axis xyz="0 0 1" />
+    <limit effort="108" lower="-2.0595" upper="2.0595" velocity="3.05" />
+  </joint>
+  <joint name="idx63_arm_r_joint3" type="revolute">
+    <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0" />
+    <parent link="arm_r_link2" />
+    <child link="arm_r_link3" />
+    <axis xyz="0 0 1" />
+    <limit effort="35" lower="-3.0718" upper="3.0718" velocity="3.76" />
+  </joint>
+  <joint name="idx64_arm_r_joint4" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.0105 0 0.332" />
+    <parent link="arm_r_link3" />
+    <child link="arm_r_link4" />
+    <axis xyz="0 0 1" />
+    <limit effort="35" lower="-2.4959" upper="1.0123" velocity="3.76" />
+  </joint>
+  <joint name="idx65_arm_r_joint5" type="revolute">
+    <origin rpy="-1.5707963267948966 0 0" xyz="-0.0105 0 0" />
+    <parent link="arm_r_link4" />
+    <child link="arm_r_link5" />
+    <axis xyz="0 0 1" />
+    <limit effort="35" lower="-3.0718" upper="3.0718" velocity="3.35" />
+  </joint>
+  <joint name="idx66_arm_r_joint6" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0.278" />
+    <parent link="arm_r_link5" />
+    <child link="arm_r_link6" />
+    <axis xyz="0 0 1" />
+    <limit effort="18" lower="-1.0123" upper="1.0123" velocity="3.35" />
+  </joint>
+  <joint name="idx67_arm_r_joint7" type="revolute">
+    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0" />
+    <parent link="arm_r_link6" />
+    <child link="arm_r_link7" />
+    <axis xyz="0 0 1" />
+    <limit effort="18" lower="-1.5359" upper="1.5359" velocity="3.35" />
+  </joint>
+  <joint name="arm_r_end_joint" type="fixed">
+    <origin rpy="3.141592653589793 -1.5707963267948966 0" xyz="0.09 0.0 0.0" />
+    <parent link="arm_r_link7" />
+    <child link="arm_r_end_link" />
+  </joint>
+  <joint name="idx30_gripper_l_camera_joint" type="fixed">
+    <origin rpy="0 0 1.5707963267948966" xyz="0 0 0.0" />
+    <parent link="arm_l_end_link" />
+    <child link="gripper_l_camera_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="idx51_gripper_l_base_joint" type="fixed">
+    <origin rpy="0 0 1.5707963267948966" xyz="0 0 0.007" />
+    <parent link="arm_l_end_link" />
+    <child link="gripper_l_base_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="idx52_gripper_l_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.185" />
+    <parent link="arm_l_end_link" />
+    <child link="gripper_l_center_link" />
+  </joint>
+  <joint name="idx31_gripper_l_inner_joint1" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.016 0 0.121" />
+    <parent link="gripper_l_base_link" />
+    <child link="gripper_l_left_inner_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="0" lower="-0.91" upper="0" velocity="0" />
+  </joint>
+  <joint name="idx32_gripper_l_outer_joint1" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.030141 0 0.10415" />
+    <parent link="gripper_l_base_link" />
+    <child link="gripper_l_left_outer_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="10" lower="-0.91" upper="0" velocity="10" />
+    <mimic joint="idx31_gripper_l_inner_joint1" multiplier="1" offset="0" />
+  </joint>
+  <joint name="idx33_gripper_l_left_support_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.040359 0.037365 0" />
+    <parent link="gripper_l_left_outer_link" />
+    <child link="gripper_l_left_support_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx31_gripper_l_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx34_gripper_l_inner_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.016 0 0.121" />
+    <parent link="gripper_l_base_link" />
+    <child link="gripper_l_right_inner_link" />
+    <axis xyz="0 0 1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx31_gripper_l_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx35_gripper_l_outer_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.030141 0 0.10415" />
+    <parent link="gripper_l_base_link" />
+    <child link="gripper_l_right_outer_link" />
+    <axis xyz="0 0 1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx31_gripper_l_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx36_gripper_l_right_support_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.040359 0.037365 0" />
+    <parent link="gripper_l_right_outer_link" />
+    <child link="gripper_l_right_support_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx31_gripper_l_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx70_gripper_r_camera_joint" type="fixed">
+    <origin rpy="0 0 1.5707963267948966" xyz="0 0 0.0" />
+    <parent link="arm_r_end_link" />
+    <child link="gripper_r_camera_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="idx91_gripper_r_base_joint" type="fixed">
+    <origin rpy="0 0 1.5707963267948966" xyz="0 0 0.007" />
+    <parent link="arm_r_end_link" />
+    <child link="gripper_r_base_link" />
+    <axis xyz="0 0 0" />
+  </joint>
+  <joint name="idx92_gripper_r_center_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.185" />
+    <parent link="arm_r_end_link" />
+    <child link="gripper_r_center_link" />
+  </joint>
+  <joint name="idx71_gripper_r_inner_joint1" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.016 0 0.121" />
+    <parent link="gripper_r_base_link" />
+    <child link="gripper_r_left_inner_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="0" lower="-0.91" upper="0" velocity="0" />
+  </joint>
+  <joint name="idx72_gripper_r_outer_joint1" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.030141 0 0.10415" />
+    <parent link="gripper_r_base_link" />
+    <child link="gripper_r_left_outer_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="10" lower="-0.91" upper="0" velocity="10" />
+    <mimic joint="idx71_gripper_r_inner_joint1" multiplier="1" offset="0" />
+  </joint>
+  <joint name="idx73_gripper_r_left_support_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.040359 0.037365 0" />
+    <parent link="gripper_r_left_outer_link" />
+    <child link="gripper_r_left_support_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx71_gripper_r_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx74_gripper_r_inner_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.016 0 0.121" />
+    <parent link="gripper_r_base_link" />
+    <child link="gripper_r_right_inner_link" />
+    <axis xyz="0 0 1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx71_gripper_r_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx75_gripper_r_outer_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.030141 0 0.10415" />
+    <parent link="gripper_r_base_link" />
+    <child link="gripper_r_right_outer_link" />
+    <axis xyz="0 0 1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx71_gripper_r_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+  <joint name="idx76_gripper_r_right_support_joint" type="revolute">
+    <origin rpy="0 0 0" xyz="0.040359 0.037365 0" />
+    <parent link="gripper_r_right_outer_link" />
+    <child link="gripper_r_right_support_link" />
+    <axis xyz="0 0 -1" />
+    <limit effort="0" lower="0" upper="0.91" velocity="0" />
+    <mimic joint="idx71_gripper_r_inner_joint1" multiplier="-1" offset="0" />
+  </joint>
+</robot>
\ No newline at end of file
diff --git a/inputs/validation_input_manifest.json b/inputs/validation_input_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..e465703a29aa79529e42d044f58c57ff6590316c
--- /dev/null
+++ b/inputs/validation_input_manifest.json
@@ -0,0 +1,167 @@
+{
+  "schema_version": "worldoracle.validation_inputs.v1",
+  "generated_at": "2026-10-15",
+  "repository": "WorldOracle/worldoracle-validation",
+  "remote_path": "inputs",
+  "contains_ground_truth_target_video": false,
+  "episode_count": 67,
+  "datasets": {
+    "agibot": {
+      "episode_count": 20,
+      "tasks": {
+        "hangtowel": {
+          "count": 5,
+          "episodes": [
+            "ep000018",
+            "ep000019",
+            "ep000020",
+            "ep000038",
+            "ep000043"
+          ]
+        },
+        "pickfruit": {
+          "count": 5,
+          "episodes": [
+            "ep000014",
+            "ep000028",
+            "ep000040",
+            "ep000061",
+            "ep000062"
+          ]
+        },
+        "pourwater": {
+          "count": 5,
+          "episodes": [
+            "ep000005",
+            "ep000020",
+            "ep000030",
+            "ep000039",
+            "ep000041"
+          ]
+        },
+        "pulldrawer": {
+          "count": 5,
+          "episodes": [
+            "ep000026",
+            "ep000032",
+            "ep000036",
+            "ep000037",
+            "ep000039"
+          ]
+        }
+      }
+    },
+    "yam": {
+      "episode_count": 15,
+      "tasks": {
+        "hangtowel": {
+          "count": 5,
+          "episodes": [
+            "ep000006",
+            "ep000011",
+            "ep000012",
+            "ep000017",
+            "ep000024"
+          ]
+        },
+        "pickfruit": {
+          "count": 5,
+          "episodes": [
+            "ep000000",
+            "ep000013",
+            "ep000018",
+            "ep000020",
+            "ep000022"
+          ]
+        },
+        "pulldrawer": {
+          "count": 5,
+          "episodes": [
+            "ep000005",
+            "ep000010",
+            "ep000013",
+            "ep000014",
+            "ep000020"
+          ]
+        }
+      }
+    },
+    "human_hand": {
+      "episode_count": 20,
+      "tasks": {
+        "hangtowel": {
+          "count": 5,
+          "episodes": [
+            "ep000002",
+            "ep000007",
+            "ep000008",
+            "ep000011",
+            "ep000015"
+          ]
+        },
+        "pickfruit": {
+          "count": 5,
+          "episodes": [
+            "ep000006",
+            "ep000017",
+            "ep000022",
+            "ep000026",
+            "ep000032"
+          ]
+        },
+        "pourwater": {
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+            "ep000015",
+            "ep000016",
+            "ep000020",
+            "ep000021",
+            "ep000022"
+          ]
+        },
+        "pulldrawer": {
+          "count": 5,
+          "episodes": [
+            "ep000010",
+            "ep000017",
+            "ep000018",
+            "ep000024",
+            "ep000026"
+          ]
+        }
+      }
+    },
+    "policy": {
+      "episode_count": 12,
+      "tasks": {
+        "hangtowel": {
+          "count": 4,
+          "episodes": [
+            "ep000003",
+            "ep000009",
+            "ep000029",
+            "ep000030"
+          ]
+        },
+        "pickfruit": {
+          "count": 4,
+          "episodes": [
+            "ep000016",
+            "ep000026",
+            "ep000033",
+            "ep000034"
+          ]
+        },
+        "pourwater": {
+          "count": 4,
+          "episodes": [
+            "ep000026",
+            "ep000041",
+            "ep000050",
+            "ep000074"
+          ]
+        }
+      }
+    }
+  }
+}
diff --git a/inputs/yam/hangtowel/ep000006/calibration.json b/inputs/yam/hangtowel/ep000006/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..03676ed5360e0a2b02f498985b8cf529c4646adf
--- /dev/null
+++ b/inputs/yam/hangtowel/ep000006/calibration.json
@@ -0,0 +1,30 @@
+{
+  "availability": "not_provided_by_source_dataset",
+  "cameras": {
+    "hand_left": {
+      "intrinsics": null,
+      "resolution": [
+        640,
+        480
+      ],
+      "transforms": []
+    },
+    "hand_right": {
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+      "resolution": [
+        640,
+        480
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+      "transforms": []
+    },
+    "top_head": {
+      "intrinsics": null,
+      "resolution": [
+        640,
+        480
+      ],
+      "transforms": []
+    }
+  },
+  "schema_version": "acwmbench.inference.v1"
+}
diff --git a/inputs/yam/hangtowel/ep000006/metadata.json b/inputs/yam/hangtowel/ep000006/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..828841bc2f6779efc424bbf326bc554c2311eb9a
--- /dev/null
+++ b/inputs/yam/hangtowel/ep000006/metadata.json
@@ -0,0 +1,19 @@
+{
+  "episode_index": 6,
+  "episode_name": "ep000006",
+  "files": {
+    "calibration": "calibration.json",
+    "observations": {
+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "top_head": "observations/top_head.png"
+    },
+    "trajectory": "trajectory.parquet"
+  },
+  "fps": 30.0,
+  "num_frames": 3681,
+  "num_transitions": 3680,
+  "schema_version": "acwmbench.inference.v1",
+  "seed_local_index": 0,
+  "task_name": "hangtowel"
+}
diff --git a/inputs/yam/hangtowel/ep000006/observations/hand_left.png b/inputs/yam/hangtowel/ep000006/observations/hand_left.png
new file mode 100644
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@@ -0,0 +1,3 @@
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new file mode 100644
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diff --git a/inputs/yam/hangtowel/ep000006/trajectory.parquet b/inputs/yam/hangtowel/ep000006/trajectory.parquet
new file mode 100644
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diff --git a/inputs/yam/hangtowel/ep000011/calibration.json b/inputs/yam/hangtowel/ep000011/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..03676ed5360e0a2b02f498985b8cf529c4646adf
--- /dev/null
+++ b/inputs/yam/hangtowel/ep000011/calibration.json
@@ -0,0 +1,30 @@
+{
+  "availability": "not_provided_by_source_dataset",
+  "cameras": {
+    "hand_left": {
+      "intrinsics": null,
+      "resolution": [
+        640,
+        480
+      ],
+      "transforms": []
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+      "resolution": [
+        640,
+        480
+      ],
+      "transforms": []
+    },
+    "top_head": {
+      "intrinsics": null,
+      "resolution": [
+        640,
+        480
+      ],
+      "transforms": []
+    }
+  },
+  "schema_version": "acwmbench.inference.v1"
+}
diff --git a/inputs/yam/hangtowel/ep000011/metadata.json b/inputs/yam/hangtowel/ep000011/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ed4d028d081d931176040960801957497e22dba
--- /dev/null
+++ b/inputs/yam/hangtowel/ep000011/metadata.json
@@ -0,0 +1,19 @@
+{
+  "episode_index": 11,
+  "episode_name": "ep000011",
+  "files": {
+    "calibration": "calibration.json",
+    "observations": {
+      "hand_left": "observations/hand_left.png",
+      "hand_right": "observations/hand_right.png",
+      "top_head": "observations/top_head.png"
+    },
+    "trajectory": "trajectory.parquet"
+  },
+  "fps": 30.0,
+  "num_frames": 3912,
+  "num_transitions": 3911,
+  "schema_version": "acwmbench.inference.v1",
+  "seed_local_index": 0,
+  "task_name": "hangtowel"
+}
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new file mode 100644
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+size 1275045
diff --git a/inputs/yam/hangtowel/ep000012/calibration.json b/inputs/yam/hangtowel/ep000012/calibration.json
new file mode 100644
index 0000000000000000000000000000000000000000..03676ed5360e0a2b02f498985b8cf529c4646adf
--- /dev/null
+++ b/inputs/yam/hangtowel/ep000012/calibration.json
@@ -0,0 +1,30 @@
+{
+  "availability": "not_provided_by_source_dataset",
+  "cameras": {
+    "hand_left": {
+      "intrinsics": null,
+      "resolution": [
+        640,
+        480
+      ],
+      "transforms": []
+    },
+    "hand_right": {
+      "intrinsics": null,
+      "resolution": [
+        640,
+        480
+      ],
+      "transforms": []
+    },
+    "top_head": {
+      "intrinsics": null,
+      "resolution": [
+        640,
+        480
+      ],
+      "transforms": []
+    }
+  },
+  "schema_version": "acwmbench.inference.v1"
+}
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