{
  "format": "robotwin_tcp_v1",
  "shape": [
    509,
    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"
}