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@@ -68,3 +68,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 20260824_160148/right/oakd_depth.mkv filter=lfs diff=lfs merge=lfs -text
 20260824_160215/right/oakd_depth.mkv filter=lfs diff=lfs merge=lfs -text
 20260824_160239/right/oakd_depth.mkv filter=lfs diff=lfs merge=lfs -text
+20260824_160305/right/oakd_depth.mkv filter=lfs diff=lfs merge=lfs -text

20260824_160305/right/frame_timestamps.json

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20260824_160305/right/frames.json

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+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
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+    ]
+  },
+  "T_camera_in_oak_l": [
+    [
+      1.0,
+      0.0,
+      0.0,
+      -0.003499999999999996
+    ],
+    [
+      0.0,
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+    [
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+      1.0
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+  ],
+  "note": "4x4 row-major homogeneous transforms, meters + radians. frames_in_grip_r[X] = T_X_in_grip_r (pose of frame X in the grip_r link frame). T_camera_in_oak_l = inv(T_oak_l_in_grip_r) @ T_camera_in_grip_r \u2014 provided as a convenience so SLAM poses (produced in the oak_l frame) can be re-expressed in the primary RPi camera frame without URDF parsing."
+}

20260824_160305/right/metadata.json

@@ -0,0 +1,25 @@
+{
+  "duration_seconds": 15.54,
+  "frame_count": 761,
+  "imu_sample_count": 9243,
+  "angle_sample_count": 1381,
+  "tactile_sample_count": 3005,
+  "fps": 49.435,
+  "backend": "rpi",
+  "hand": "right",
+  "angle_convention": "positive_closing",
+  "device_id": "grabette-faa313f1",
+  "urdf": "grabette_right",
+  "oakd": {
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+    "right_frames": 446,
+    "depth_frames": 460,
+    "imu_samples": 9243
+  },
+  "sync": {
+    "scheduled_start_utc": "2026-08-24T16:03:05.286956+00:00",
+    "capture_started_utc": "2026-08-24T16:03:05.453141+00:00",
+    "wake_skew_ms": -0.6,
+    "start_capture_ms": 166.8
+  }
+}

20260824_160305/right/oakd_calib.json

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+{
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+}

20260824_160305/right/oakd_calib_offline.json

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+}

20260824_160305/right/oakd_clock_pairs.json

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+{"pairs": [{"stream": "left", "seq": 7290, "device_us": 245145212, "host_ms": 635.4848690000381}]}

20260824_160305/right/oakd_depth.mkv

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20260824_160305/right/oakd_depth_timestamps.json

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20260824_160305/right/oakd_left.mp4

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20260824_160305/right/oakd_right.mp4

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20260824_160305/right/raw_video.mp4

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+oid sha256:664428216c2c8326c600fa41481037232fbabc5f1640916988eaff1ff2165fd4
+size 15860422

20260824_160305/right/rpi_camera_intrinsics.json

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+{
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+  "intrinsic_type": "FISHEYE",
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+  "_note": "Final calibration from OpenICC spline optimization. Euler angles XYZ: (116deg, 12deg, 5deg)"
+}