{
  "image_size_wh": [
    960,
    540
  ],
  "original_image_size_wh": [
    1920,
    1080
  ],
  "save_scale": 0.5,
  "motor_ids": [
    0
  ],
  "motor_signs": [
    1
  ],
  "rad_per_tick": 0.0015339807878856412,
  "save_every": 2,
  "n_frames": 379,
  "n_received": 758,
  "render_scale": 0.5,
  "mode": "umi-rendered",
  "calibrated": true,
  "t_start_wall": 1778482505.467614,
  "audio": {
    "path": "audio.wav",
    "sample_rate": 16000,
    "channels": 1,
    "offset_s": 0.1893475840042811
  },
  "K": [
    [
      773.8343149640313,
      0.0,
      480.0
    ],
    [
      0.0,
      773.8343149640313,
      270.0
    ],
    [
      0.0,
      0.0,
      1.0
    ]
  ],
  "K_original": [
    [
      1547.6686299280625,
      0.0,
      960.0
    ],
    [
      0.0,
      1547.6686299280625,
      540.0
    ],
    [
      0.0,
      0.0,
      1.0
    ]
  ],
  "K_normalized": [
    [
      0.8060774114208659,
      0.0,
      0.5
    ],
    [
      0.0,
      1.4330265091926504,
      0.5
    ],
    [
      0.0,
      0.0,
      1.0
    ]
  ],
  "dist_coeffs": [
    0.0,
    0.0,
    0.0,
    0.0,
    0.0
  ],
  "T_camera_arucoBase": [
    [
      -0.40674236499916716,
      -0.9134803470780974,
      -0.010691305671561846,
      -0.15274906572807467
    ],
    [
      -0.5695191018691179,
      0.26270369027379536,
      -0.7788676163012063,
      0.1214462793565291
    ],
    [
      0.7142889059204809,
      -0.31070955347174034,
      -0.6270972271189803,
      0.5800394921349667
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "T_W_baseBody_inv_aruco_offset": [
    [
      1.0,
      0.0,
      0.0,
      0.03286
    ],
    [
      0.0,
      1.0,
      0.0,
      0.07
    ],
    [
      0.0,
      0.0,
      1.0,
      -0.0142
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "calibration_rms_px": 0.5958864558187797,
  "umi": {
    "T_world_umiAruco_model": [
      [
        0.9999999999999998,
        0.0,
        0.0,
        0.39275000000000004
      ],
      [
        0.0,
        0.0,
        -0.9999999999999998,
        -0.024869999999999996
      ],
      [
        0.0,
        0.9999999999999998,
        0.0,
        0.20256
      ],
      [
        0.0,
        0.0,
        0.0,
        1.0
      ]
    ],
    "gripper_motor_id": 0,
    "gripper_offset": 2048,
    "gripper_sign": 1
  }
}