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train_set/stack_bowls__episode_14/TCP/third_person/metadata.json

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+{
+  "shape": [
+    290,
+    2,
+    7
+  ],
+  "pose_shape": [
+    290,
+    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
+    ]
+  ]
+}