{
  "version": "1.0",
  "timestamp": "2026-04-14T15:10:21.625170",
  "coordinate_frame": "left_arm_base",
  "charuco_config": {
    "squares_x": 9,
    "squares_y": 9,
    "square_length": 0.03,
    "marker_length": 0.023,
    "dictionary": "DICT_6X6_250"
  },
  "cameras": {
    "left_wrist_camera": {
      "type": "hand_eye",
      "serial_number": 16522755,
      "intrinsics": {
        "camera_matrix": [
          [
            730.097900390625,
            0.0,
            638.4089965820312
          ],
          [
            0.0,
            730.097900390625,
            352.0335388183594
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "distortion_coeffs": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "image_size": [
          1280,
          720
        ],
        "source": "zed_sdk_factory_calibration"
      },
      "num_poses_used": 5
    },
    "right_wrist_camera": {
      "type": "hand_eye",
      "serial_number": 14932342,
      "intrinsics": {
        "camera_matrix": [
          [
            733.60986328125,
            0.0,
            652.9937744140625
          ],
          [
            0.0,
            733.60986328125,
            360.7453308105469
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "distortion_coeffs": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "image_size": [
          1280,
          720
        ],
        "source": "zed_sdk_factory_calibration"
      },
      "num_poses_used": 5,
      "hand_eye_calibration": {
        "success": true,
        "rotation_matrix": [
          [
            -0.0768259940771685,
            -0.8170440784044989,
            0.5714339336950494
          ],
          [
            0.9969147275497815,
            -0.053700838661617345,
            0.057247235054488976
          ],
          [
            -0.01608703292716951,
            0.5740689800635306,
            0.8186488951317394
          ]
        ],
        "translation_vector": [
          -0.1094109141137069,
          -0.005710127897066805,
          -0.12954526781551953
        ],
        "rotation_vector": [
          0.45190054019364506,
          0.5137187913543159,
          1.5860961196309917
        ],
        "method": "CALIB_HAND_EYE_TSAI"
      }
    },
    "scene_camera": {
      "type": "scene",
      "serial_number": 37038161,
      "intrinsics": {
        "camera_matrix": [
          [
            523.7823486328125,
            0.0,
            632.0406494140625
          ],
          [
            0.0,
            523.7823486328125,
            363.2781982421875
          ],
          [
            0.0,
            0.0,
            1.0
          ]
        ],
        "distortion_coeffs": [
          0.0,
          0.0,
          0.0,
          0.0,
          0.0
        ],
        "image_size": [
          1280,
          720
        ],
        "source": "zed_sdk_factory_calibration"
      },
      "num_poses_used": 5,
      "extrinsics": {
        "success": true,
        "rotation_matrix": [
          [
            -0.9998488503511179,
            0.01134368469912126,
            0.013175631635522458
          ],
          [
            0.0008803537506114857,
            -0.7238209903851293,
            0.6899872454293373
          ],
          [
            0.017363796497939104,
            0.6898945533161845,
            0.7237015986412084
          ]
        ],
        "translation_vector": [
          0.23916227948205576,
          -0.15594627811298845,
          -0.5063900291322391
        ],
        "rotation_vector": [
          -0.02579043813785485,
          -1.1653052576020198,
          -2.911292885278829
        ],
        "reference_frame": "board"
      }
    }
  },
  "quality_metrics": {
    "overall_success": true,
    "poses_collected": 5,
    "poses_with_detections": 5,
    "detection_rate": 1.0
  },
  "bimanual_transform": {
    "right_base_to_left_base": [
      [
        0.5609392219297161,
        -0.8275451337344464,
        0.022720936013343185,
        0.1526346027526614
      ],
      [
        0.2531718716334848,
        0.19761013040698439,
        0.9470238855351714,
        0.13666365018315382
      ],
      [
        -0.7881948951334836,
        -0.5254705396051929,
        0.3203584231646558,
        0.3075648476137527
      ],
      [
        0.0,
        0.0,
        0.0,
        1.0
      ]
    ],
    "computed_from_calibration": true,
    "description": "Transform from right arm base frame to left arm base frame"
  }
}