{
  "image_size_wh": [
    960,
    540
  ],
  "original_image_size_wh": [
    1920,
    1080
  ],
  "save_scale": 0.5,
  "motor_ids": [
    0,
    1,
    2,
    3,
    4,
    5,
    6
  ],
  "motor_signs": [
    1,
    1,
    1,
    1,
    1,
    1,
    1
  ],
  "rad_per_tick": 0.0015339807878856412,
  "save_every": 1,
  "n_frames": 399,
  "n_received": 399,
  "render_scale": 1.0,
  "mode": "rendered",
  "calibrated": true,
  "t_start_wall": 1779489025.4937952,
  "K": [
    [
      1044.7749447598499,
      0.0,
      480.0
    ],
    [
      0.0,
      1044.7749447598499,
      270.0
    ],
    [
      0.0,
      0.0,
      1.0
    ]
  ],
  "K_original": [
    [
      2089.5498895196997,
      0.0,
      960.0
    ],
    [
      0.0,
      2089.5498895196997,
      540.0
    ],
    [
      0.0,
      0.0,
      1.0
    ]
  ],
  "K_normalized": [
    [
      1.0883072341248436,
      0.0,
      0.5
    ],
    [
      0.0,
      1.9347684162219443,
      0.5
    ],
    [
      0.0,
      0.0,
      1.0
    ]
  ],
  "dist_coeffs": [
    0.0,
    0.0,
    0.0,
    0.0,
    0.0
  ],
  "T_camera_arucoBase": [
    [
      0.1178828637154582,
      0.9929705016093008,
      -0.010640177442877985,
      -0.1967280481087631
    ],
    [
      0.7430165340920148,
      -0.09530748958833635,
      -0.662452196384206,
      -0.14487542705296236
    ],
    [
      -0.6588095783366634,
      0.07018593421863417,
      -0.7490286203675567,
      1.2893242699501637
    ],
    [
      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": null
}