# Generated from cma2lance-129-123/lance_utils/schema/schemas/captured_data_schema.jsonc
# Comments from the JSONC source are not preserved in this YAML conversion.
version: "1.0"
model: "TrajectorySchema"
description: "Schema for captured trajectory data with camera image. NOTE: All rotation angles should be represented as axis-angle format"
reserved_fields:
  - "index.uuid"
  - "index.seed_uuid"
index_fields:
  - "index.uuid"
  - "index.seed_uuid"
  - "index.file_uuid"
  - "index.capMachine"
  - "index.operator"
  - "index.scene"
  - "index.is_generated"
sequence_field:
  - "timestamp"
  - "hands.mano_global_pos"
  - "hands.mano_global_rot_aa"
  - "hands.mano_hand_pose"
  - "hands.mano_joint_pos"
  - "hands.urdf_dof"
  - "objects.rot_aa"
  - "objects.pos"
t_dimension_field: "trajectory_metadata.total_frames"
fields:
  index:
    uuid: "str"
    seed_uuid: "str"
    file_uuid: "str"
    capMachine: "str"
    operator: "str"
    scene: "str"
    is_generated: "bool"
  trajectory_metadata:
    data_fps: "int"
    total_frames: "int"
    hand_names:
      - "str"
    object_names:
      - "str"
    mano_hand_shapes:
      - "(10,)"
    raw_data_info:
      capMachine: "str"
      operator: "str"
      scene: "str"
      id: "int"
    trajectory_info:
      object_move:
        -
          object_name: "str"
          start_frame: "int"
          end_frame: "int"
    capture_info:
      capture_date: "str"
      capture_tag: "str"
      commit_hash: "str"
      alignment_rmse_mean: "float"
      camera1: "(6,)"
      camera2: "(6,)"
      video_fps: "int"
    train_info: "NULL"
  timestamp: "(T,)"
  hands:
    -
      mano_global_pos: "(T, 3)"
      mano_global_rot_aa: "(T, 3)"
      mano_hand_pose: "(T, 48)"
      mano_joint_pos: "(T, 21, 3)"
      urdf_dof: "(T, 26)"
  objects:
    -
      rot_aa: "(T, 3)"
      pos: "(T, 3)"
  video:
    -
      color: "(T,): blob_jpeg"
  video_depth:
    -
      depth: "(T,): blob_png"
  contact: "NULL"
  atomic_actions:
    -
      action: "str"
      start: "float"
      end: "float"