{
  "version": "1.0",
  "timestamp": "2026-04-29T10:18:33.533536",
  "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": [
          [
            730.0899658203125,
            0.0,
            638.4081420898438
          ],
          [
            0.0,
            730.0899658203125,
            352.0343933105469
          ],
          [
            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": [
          [
            0.029669473880994834,
            0.8320969987151272,
            0.5538359929156847
          ],
          [
            -0.9994405245097857,
            0.03325397087607773,
            0.003579300012211739
          ],
          [
            -0.015438921180879417,
            -0.5536323312002744,
            0.8326180886592125
          ]
        ],
        "translation_vector": [
          -0.12278185241869641,
          -0.0023481016397578006,
          -0.13270313249113186
        ],
        "rotation_vector": [
          -0.4528090128065076,
          0.46261204438009285,
          -1.4883693220920775
        ],
        "method": "CALIB_HAND_EYE_TSAI"
      }
    },
    "right_wrist_camera": {
      "type": "hand_eye",
      "serial_number": 14932342,
      "intrinsics": {
        "camera_matrix": [
          [
            733.6293334960938,
            0.0,
            652.9951782226562
          ],
          [
            0.0,
            733.6293334960938,
            360.74542236328125
          ],
          [
            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": [
          [
            -0.07666125644158472,
            -0.8184228523800735,
            0.5694796629054122
          ],
          [
            0.996900829318596,
            -0.05280158768605747,
            0.0583157683798054
          ],
          [
            -0.017657527139809448,
            0.5721853083048323,
            0.81993425632511
          ]
        ],
        "translation_vector": [
          -0.10865249836233266,
          -0.006290048511091287,
          -0.12957217100226837
        ],
        "rotation_vector": [
          0.4489259146442536,
          0.5129338861010604,
          1.5859002740284023
        ],
        "method": "CALIB_HAND_EYE_TSAI"
      }
    },
    "scene_camera": {
      "type": "scene",
      "serial_number": 37038161,
      "intrinsics": {
        "camera_matrix": [
          [
            523.8290405273438,
            0.0,
            632.0406494140625
          ],
          [
            0.0,
            523.8290405273438,
            363.27923583984375
          ],
          [
            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": [
          [
            0.01000375613121073,
            0.7372893755549808,
            -0.6755029989252557
          ],
          [
            0.9988858322211478,
            -0.038525240241984046,
            -0.027256192913946545
          ],
          [
            -0.0461196167713059,
            -0.6744777109423586,
            -0.7368533085973246
          ]
        ],
        "translation_vector": [
          0.6944519326318632,
          -0.39233827823534684,
          0.5380115739622572
        ],
        "rotation_vector": [
          -1.8263826378183747,
          -1.7760455264203987,
          0.7381942862859525
        ],
        "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": [
      [
        0.9997004530384057,
        0.0016275124174190945,
        -0.024420388984147293,
        0.004724211854900182
      ],
      [
        -0.003390086011163816,
        0.9973764749736246,
        -0.07230957395824744,
        0.5974514438170411
      ],
      [
        0.024238636752978236,
        0.07237070106415641,
        0.9970832312880602,
        0.006529187769847895
      ],
      [
        0.0,
        0.0,
        0.0,
        1.0
      ]
    ],
    "computed_from_calibration": true,
    "description": "Transform from right arm base frame to left arm base frame"
  }
}