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train_set/stack_bowls__episode_12/TCP/third_person/metadata.json

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+{
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+  "pose_shape": [
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+  "arm_order": [
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+  "columns": [
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+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "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"
+  ],
+  "tcp_offsets_in_link6_m": [
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+    ]
+  ]
+}

train_set/stack_bowls__episode_12/depths_completed/metadata.json

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+  "depth_type": "distance_to_image_plane",
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+  "intrinsics_yaml": "/home/agilex/data/exp13_Stack_bowls/4d_dataset_phs/stack_bowls/train_set/G_106.yaml",
+  "processing": {
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+    "source_episode": "/home/agilex/data/exp13_Stack_bowls/4d_dataset_phs/stack_bowls/train_set/stack_bowls__episode_12",
+    "model": "robbyant/lingbot-depth-pretrain-vitl-14-v0.5",
+    "mode": "completion_only",
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+    "skipped": 0,
+    "device": "cuda",
+    "precision": "bfloat16"
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+}

train_set/stack_bowls__episode_12/depths_completed/postprocess_metadata.json

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+{
+  "operation": "depth_edge_and_border_mask",
+  "version": 1,
+  "edge_threshold_mm": 50.0,
+  "border_pixels": 4,
+  "connectivity": 8,
+  "ignore_invalid_neighbors": true,
+  "source_dir": "/home/agilex/data/exp13_Stack_bowls/4d_dataset_phs/stack_bowls/train_set/stack_bowls__episode_12/depths_completed/third_person",
+  "output_dir": "/home/agilex/data/exp13_Stack_bowls/4d_dataset_phs/stack_bowls/train_set/stack_bowls__episode_12/depths_completed/third_person",
+  "selected_frames": 303,
+  "processed_frames": 303,
+  "status": "finished"
+}

train_set/stack_bowls__episode_16/TCP/third_person/pose.npy

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train_set/stack_bowls__episode_16/action/gripper_position.npy

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train_set/stack_bowls__episode_16/action/joint_position.npy

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