One inverse-kinematics solver retargets the wearer's two-hand grasp trajectory onto five robot suppliers, then each is rendered back onto the human-removed plate — camera-corrected, both arms, gripper down at the table.
① Source
original egocentric capturehands removed (inpainted plate)
② Robot overlays — same trajectory, five suppliers
③ Human demonstration & inverse kinematics — five robots
left arm + gripperright arm + gripperhand target / balldesk (±0.5 m) PLAY drives every tile together.
Table. Both arms mount at the table edge: left base at x = -0.40 m, right base at x = +0.40 m, gripper down at desk level (z = 0). Base position is the y set-back behind the edge, tuned per robot so both arms reach 100% with the whole arm staying in frame. Reach is the share of the 364 frames the gripper meets its WiLoR hand target within 2 cm.