{
  "T_board_tcp": [
    [
      0.0022114138663680634,
      0.00037989453642111237,
      -0.9999974826612577,
      0.08834057905783814
    ],
    [
      -3.233897948167918e-05,
      -0.9999999272896396,
      -0.0003799669801720935,
      0.010136719627137383
    ],
    [
      -0.99999755429846,
      3.3179162322227933e-05,
      -0.0022114014201744152,
      0.20744155418693278
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "tcp_in_board_translation": [
    0.08834057905783814,
    0.010136719627137383,
    0.2074415541869328
  ],
  "derivation": "layer.T_board_w from render_core.measure_board_world, then inv() applied to data.site('tcp').xpos",
  "source_xml": "/tmp/mj_umi_v2_bigtcp/umi_gripper_v2.xml"
}