# 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