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blocks_ranking_rgb/episode_0000043/TCP_third/metadata.json

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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    504,
+    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"
+}

click_alarmclock/episode_0000043/TCP_third/left_state.npy

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+oid sha256:cdfca395f7096cb89097a0fabf49c7fa9f3072c5b4886720842c70e7eef52a69
+size 2312

click_alarmclock/episode_0000043/TCP_third/right_state.npy

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+version https://git-lfs.github.com/spec/v1
+oid sha256:cb6eb6aeaec726d0e3c9d83d41e1f5237f3b0b80445a61ca2fcb3c696a821883
+size 2312