{
  "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": 1656,
  "n_received": 3311,
  "render_scale": 0.5,
  "mode": "umi-rendered",
  "calibrated": true,
  "t_start_wall": 1778882793.545284,
  "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": [
    [
      -0.9992788471292514,
      0.03164526611900617,
      0.020984823380037883,
      -0.15025221150483786
    ],
    [
      -0.009178805952779198,
      0.3349486521046202,
      -0.942191673692025,
      0.0054944877858568815
    ],
    [
      -0.036844744554893165,
      -0.9417048250835053,
      -0.33441663716557124,
      1.0374090214456309
    ],
    [
      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,
  "umi": {
    "T_world_umiAruco_model": [
      [
        0.0,
        0.0,
        0.9999999999999996,
        0.42775
      ],
      [
        0.9999999999999996,
        0.0,
        0.0,
        0.010099999999999996
      ],
      [
        0.0,
        0.9999999999999996,
        0.0,
        0.20256
      ],
      [
        0.0,
        0.0,
        0.0,
        1.0
      ]
    ],
    "gripper_motor_id": 0,
    "gripper_offset": 2048,
    "gripper_sign": 1
  }
}