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+oid sha256:b93c79ad6b15b65fe57c7e99edf305ffa007df517faf901ade8891f395bb5975
+size 88612
diff --git a/train_set/stack_bowls__episode_40/TCP/third_person/metadata.json b/train_set/stack_bowls__episode_40/TCP/third_person/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a97ed1983e5a3b41c8d8233d0b01014defeb2fdb
--- /dev/null
+++ b/train_set/stack_bowls__episode_40/TCP/third_person/metadata.json
@@ -0,0 +1,49 @@
+{
+  "shape": [
+    348,
+    2,
+    7
+  ],
+  "pose_shape": [
+    348,
+    2,
+    4,
+    4
+  ],
+  "arm_order": [
+    "left",
+    "right"
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "coordinate_frame": "OpenCV camera (+x right, +y down, +z forward)",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "pose_convention": "T_camera_tcp; maps TCP coordinates into OpenCV camera",
+  "tcp_definition_id": "aloha_fixed_fingertip_center_v1",
+  "tcp_definition": "fixed midpoint of area centroids of closed inner fingertip contact faces; orientation equals link6",
+  "tcp_reference_links": [
+    "fl_link6",
+    "fr_link6"
+  ],
+  "tcp_offsets_in_link6_m": [
+    [
+      1.16277768659896e-13,
+      6.932020992986642e-11,
+      0.1348330098977198
+    ],
+    [
+      1.1622225750856133e-13,
+      6.932032102161884e-11,
+      0.13483300989771985
+    ]
+  ]
+}