| { | |
| "format": "robotwin_tcp_v1", | |
| "shape": [ | |
| 344, | |
| 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" | |
| } | |