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95d07a3 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 | # Coordinate frame contract for Learning from Video.
#
# The fixed top stereo camera replaces Ego1's moving head frame. That makes
# extrinsic calibration the main source of metric accuracy.
frames:
top_left_optical: top_left_optical_frame
top_right_optical: top_right_optical_frame
top_stereo: top_stereo_frame
table: table_frame
robot_base: robot_base_frame
end_effector: ee_frame
transforms:
stereo_extrinsic: T_top_left_top_right
table_from_topcam: T_table_topcam
robot_base_from_table: T_robot_base_table
robot_base_from_topcam: T_robot_base_topcam
calibration_targets:
table_plane:
method: checkerboard_or_apriltag_grid
min_observations: 10
robot_base:
method: touch_known_points_or_apriltag_on_ee
min_points: 4
quality_gates:
max_reprojection_error_px: 1.0
target_position_repeatability_m: 0.02
min_stereo_pair_rate_hz: 25
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