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  20. move_stapler_pad/episode_0000000/TCP_third/metadata.json +30 -0
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@@ -0,0 +1,30 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ {
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+ "format": "robotwin_tcp_v1",
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+ "shape": [
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+ 176,
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+ 7
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+ ],
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+ "columns": [
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+ "x",
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+ "y",
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+ "z",
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+ "roll",
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+ "pitch",
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+ "yaw",
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+ "gripper_open"
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+ ],
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+ "position_unit": "meter",
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+ "rotation_unit": "radian",
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+ "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
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+ "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
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+ "camera": "third_views",
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+ "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
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+ "gripper": {
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+ "type": "binary",
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+ "open": 1,
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+ "closed": 0,
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+ "source_threshold": 0.5
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+ },
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+ "tcp_definition": "midpoint of the two inner fingertip contact faces",
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+ "source": "robot_state.npy"
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+ }