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new file mode 100644
index 0000000000000000000000000000000000000000..5397467f5fd1dcf2c50c1652abfd8051328e2f62
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+{
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+    "gripper_open"
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+  "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"
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new file mode 100644
index 0000000000000000000000000000000000000000..c079b063041abaa5bc6c215eec68729442868524
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+++ b/train_set/stack_bowls__episode_49/depths/metadata.json
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+{
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+      "width": 320,
+      "height": 240
+    }
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+}
diff --git a/train_set/stack_bowls__episode_49/depths_completed/metadata.json b/train_set/stack_bowls__episode_49/depths_completed/metadata.json
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index 0000000000000000000000000000000000000000..1baf540a552038374da3507ff33a5f0b0508e702
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@@ -0,0 +1,57 @@
+{
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+  "dtype": "uint16",
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+  "depth_type": "distance_to_image_plane",
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diff --git a/train_set/stack_bowls__episode_49/depths_completed/postprocess_metadata.json b/train_set/stack_bowls__episode_49/depths_completed/postprocess_metadata.json
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+  "status": "finished"
+}
diff --git a/train_set/stack_bowls__episode_51/metadata.json b/train_set/stack_bowls__episode_51/metadata.json
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index 0000000000000000000000000000000000000000..35ede5e3825a8f2d4eb7b29ab9eeb3e991669d8d
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+{
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+    "Using both arms, pick up the bowl on the table at the same time. Then, place the right bowl in the right plate first, and then stack the left bowl on top of it."
+  ],
+  "status": "success",
+  "complete": true,
+  "camera_id": "third_person",
+  "source_camera": "cam_third_person",
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+    "third_person": "cam_third_person",
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist"
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+  ],
+  "qpos_layout": [
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+    "fl_joint2",
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+    "fl_joint4",
+    "fl_joint5",
+    "fl_joint6",
+    "left_gripper_width_m",
+    "fr_joint1",
+    "fr_joint2",
+    "fr_joint3",
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+      "fr_joint3",
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+  "arm_joint_unit": "radian",
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+  "gripper_open": "clip(source_width_m / 0.10, 0, 1)",
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+    "rgb_resize": "INTER_AREA",
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