{
  "version": "1.0",
  "timestamp": "2026-04-27T11:53:17.300379",
  "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": [
          [
            730.0549926757812,
            0.0,
            638.408203125
          ],
          [
            0.0,
            730.0549926757812,
            352.0343322753906
          ],
          [
            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": [
          [
            0.0296788735670519,
            0.8318324818817056,
            0.5542327007226413
          ],
          [
            -0.9994375239143403,
            0.03335719417790339,
            0.003454473700865046
          ],
          [
            -0.015614104385563377,
            -0.554023482970803,
            0.8323545999519297
          ]
        ],
        "translation_vector": [
          -0.12296559799749916,
          -0.0023156807678811134,
          -0.13251852200056602
        ],
        "rotation_vector": [
          -0.45304831261206885,
          0.4631001646109952,
          -1.4882270700285731
        ],
        "method": "CALIB_HAND_EYE_TSAI"
      }
    },
    "right_wrist_camera": {
      "type": "hand_eye",
      "serial_number": 14932342,
      "intrinsics": {
        "camera_matrix": [
          [
            733.6001586914062,
            0.0,
            652.9968872070312
          ],
          [
            0.0,
            733.6001586914062,
            360.7455139160156
          ],
          [
            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": [
          [
            -0.07657612921408452,
            -0.8183756948721109,
            0.5695588806060152
          ],
          [
            0.9969325733810118,
            -0.053578966049023125,
            0.05705031576626868
          ],
          [
            -0.01617221588098411,
            0.5721804928863854,
            0.8199682573086544
          ]
        ],
        "translation_vector": [
          -0.1083563424837283,
          -0.005955209739042074,
          -0.12945083889588577
        ],
        "rotation_vector": [
          0.4501376010543512,
          0.5118309940792173,
          1.5862757519155224
        ],
        "method": "CALIB_HAND_EYE_TSAI"
      }
    },
    "scene_camera": {
      "type": "scene",
      "serial_number": 37038161,
      "intrinsics": {
        "camera_matrix": [
          [
            523.9266357421875,
            0.0,
            632.0403442382812
          ],
          [
            0.0,
            523.9266357421875,
            363.2779235839844
          ],
          [
            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": [
          [
            0.00932311310008353,
            0.7391034583598449,
            -0.6735273991476819
          ],
          [
            0.999510611503286,
            -0.027001219270963422,
            -0.015794671576516203
          ],
          [
            -0.029859957375249328,
            -0.6730505270768303,
            -0.738993485050545
          ]
        ],
        "translation_vector": [
          0.6926659774774399,
          -0.4024835222266119,
          0.5376698539859467
        ],
        "rotation_vector": [
          -1.8170249295354017,
          -1.779458909712562,
          0.7199118655714258
        ],
        "reference_frame": "left_arm_base"
      }
    }
  },
  "quality_metrics": {
    "overall_success": true,
    "poses_collected": 5,
    "poses_with_detections": 5,
    "detection_rate": 1.0
  },
  "bimanual_transform": {
    "right_base_to_left_base": [
      [
        0.9996921312879364,
        0.0017934426109669148,
        -0.024747246404075614,
        0.004800269504489507
      ],
      [
        -0.0035655875624236943,
        0.997416081208947,
        -0.07175268309353813,
        0.5972429433764145
      ],
      [
        0.024554617209754152,
        0.07181883116138965,
        0.9971154026813014,
        0.005704370644802532
      ],
      [
        0.0,
        0.0,
        0.0,
        1.0
      ]
    ],
    "computed_from_calibration": true,
    "description": "Transform from right arm base frame to left arm base frame"
  }
}