| # 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 | |