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train_set/stack_bowls__episode_50/metadata.json

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+{
+  "format": "cobot_magic_robolab_dual_arm_v1",
+  "task": "stack_bowls",
+  "episode": "stack_bowls__episode_50",
+  "language_instruction": [
+    "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",
+  "rgb_cameras": {
+    "third_person": "cam_third_person",
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist"
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+  "height": 240,
+  "fps": 30.0,
+  "frame_count": 311,
+  "frame_alignment": "same source HDF5 row for RGB, depth, state and action; no resampling",
+  "timestamp_unit": "seconds",
+  "timestamp_clock": "source camera clock, episode-relative (source origin preserved)",
+  "source_timestamp_origin": 1793707142.3475194,
+  "base_frame": "footprint",
+  "extrinsics": "base_to_camera",
+  "camera_frame": "OpenCV camera (+x right, +y down, +z forward)",
+  "arm_order": [
+    "left",
+    "right"
+  ],
+  "qpos_layout": [
+    "fl_joint1",
+    "fl_joint2",
+    "fl_joint3",
+    "fl_joint4",
+    "fl_joint5",
+    "fl_joint6",
+    "left_gripper_width_m",
+    "fr_joint1",
+    "fr_joint2",
+    "fr_joint3",
+    "fr_joint4",
+    "fr_joint5",
+    "fr_joint6",
+    "right_gripper_width_m"
+  ],
+  "arm_joint_names": [
+    [
+      "fl_joint1",
+      "fl_joint2",
+      "fl_joint3",
+      "fl_joint4",
+      "fl_joint5",
+      "fl_joint6"
+    ],
+    [
+      "fr_joint1",
+      "fr_joint2",
+      "fr_joint3",
+      "fr_joint4",
+      "fr_joint5",
+      "fr_joint6"
+    ]
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+  "arm_joint_unit": "radian",
+  "gripper_position_unit": "meter; total two-finger width",
+  "gripper_open": "clip(source_width_m / 0.10, 0, 1)",
+  "gripper_replay": "joint7=+max(width,0)/2; joint8=-max(width,0)/2; no URDF limit clamp",
+  "cartesian_position": "[T,2,6] fixed TCP xyz/rpy in footprint; meters/radians",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "action_semantics": "source 14D action preserved unchanged; no temporal shift or inferred control semantics",
+  "urdf": "/home/agilex/Documents/phs/github/4RC/embodiments/aloha_new_description/urdf/aloha_tracer2_dabai_dark.urdf",
+  "urdf_sha256": "0baf5762857082b1217f79a7c36a614511613bb9e7e5306560677f1dad610bf1",
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+    "source": "/home/agilex/Documents/phs/github/4RC/cobot_magic/G_106.yaml",
+    "sha256": "0d915f40ac0039f30b6c51bfbaeb321ca71a4baef25c16a54b3ac85fe8a18734",
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+    "extrinsic_convention": "world_to_camera; world is footprint; matrix used directly",
+    "source_image_size_wh": [
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+      480
+    ],
+    "rgb_resize": "INTER_AREA",
+    "depth_resize": "INTER_NEAREST",
+    "depth_already_aligned": true
+  },
+  "source": {
+    "path": "/home/agilex/data/exp13_Stack_bowls/Stack_bowls/episode_50.hdf5",
+    "bytes": 1911071848,
+    "mtime_ns": 1793707167025363897,
+    "attributes": {
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+      "d2c_max_source_skew_seconds": 0.02,
+      "depth_alignment": "factory_calibrated_d2c_to_rectified_color",
+      "depth_semantics": "color_camera_z; zero_is_invalid",
+      "depth_unit": "mm",
+      "max_sync_skew_seconds": 0.05,
+      "rgb_semantics": "rgb8_rectified",
+      "sim": false
+    }
+  },
+  "created_utc": "2026-11-03T12:35:35.813543+00:00",
+  "validation": {
+    "frames": 311,
+    "rgb_cameras": [
+      "third_person",
+      "left_view",
+      "right_view"
+    ],
+    "valid_depth_pixels": 14808845,
+    "tcp_in_image_frames": {
+      "left": 311,
+      "right": 311
+    }
+  }
+}

train_set/stack_bowls__episode_52/TCP/third_person/metadata.json

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+{
+  "shape": [
+    346,
+    2,
+    7
+  ],
+  "pose_shape": [
+    346,
+    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
+    ],
+    [
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+      6.932032102161884e-11,
+      0.13483300989771985
+    ]
+  ]
+}