File size: 700 Bytes
97ba92e | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 | {
"format": "robotwin_tcp_v1",
"shape": [
512,
7
],
"columns": [
"x",
"y",
"z",
"roll",
"pitch",
"yaw",
"gripper_open"
],
"position_unit": "meter",
"rotation_unit": "radian",
"rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
"coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
"camera": "third_views",
"extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
"gripper": {
"type": "binary",
"open": 1,
"closed": 0,
"source_threshold": 0.5
},
"tcp_definition": "midpoint of the two inner fingertip contact faces",
"source": "robot_state.npy"
}
|