Add files using upload-large-folder tool

franka_data_new/view_008_408322072302/T_cam_world.yaml

@@ -0,0 +1,22 @@
+matrix:
+- - -0.21882860357670297
+  - 0.97513798207264
+  - 0.03492789967875776
+  - -0.3114880796241416
+- - 0.07720878952453786
+  - 0.052987286189819405
+  - -0.995605921196933
+  - 0.3225632191978439
+- - -0.972703883551837
+  - -0.21517031259339037
+  - -0.08688435705946629
+  - 1.2905929579152517
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+shape:
+- 4
+- 4
+dtype: float64
+description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/<serial>.yaml.'

franka_data_new/view_008_408322072302/T_cb.yaml

@@ -0,0 +1,23 @@
+matrix:
+- - -0.21882860357670297
+  - 0.97513798207264
+  - 0.03492789967875776
+  - 0.05963035853340137
+- - 0.07720878952453786
+  - 0.052987286189819405
+  - -0.995605921196933
+  - 0.33034225029251285
+- - -0.972703883551837
+  - -0.21517031259339037
+  - -0.08688435705946629
+  - 1.4081922416491848
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+shape:
+- 4
+- 4
+dtype: float64
+description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed
+  by recompute_handeye_tcb.py.'

franka_data_new/view_008_408322072302/intrinsics.yaml

@@ -0,0 +1,21 @@
+K:
+- - 910.6677856445312
+  - 0.0
+  - 652.4881591796875
+- - 0.0
+  - 910.5277099609375
+  - 359.45245361328125
+- - 0.0
+  - 0.0
+  - 1.0
+dist_coeffs:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+image_hw:
+- 720
+- 1280
+description: Color-frame intrinsics. FoundationStereo depth is already warped to this
+  frame.

franka_data_new/view_008_408322072302/pose_001/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 8
+pose_id: 1
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1684960
+  robot_within_threshold: 7817
+  robot_within_threshold_pct: 97.7125
+  inliers:
+    mean_mm: 14.423594034669089
+    median_mm: 10.299791124790246
+    p75_mm: 22.0816083763183
+    p90_mm: 33.75896580859148
+    p95_mm: 40.15077005895747
+    max_mm: 49.999989535658315
+  all_robot_points:
+    mean_mm: 15.373350665926603
+    median_mm: 10.805993299584006
+    p75_mm: 23.17588780840746
+    p90_mm: 35.91781993290997
+    p95_mm: 43.96081062896359
+    max_mm: 76.5969435474834
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_008_408322072302/pose_002/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 8
+pose_id: 2
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1711367
+  robot_within_threshold: 7750
+  robot_within_threshold_pct: 96.875
+  inliers:
+    mean_mm: 14.099843479355872
+    median_mm: 9.875365252478167
+    p75_mm: 21.26255827503977
+    p90_mm: 34.52880458063792
+    p95_mm: 39.92987983566158
+    max_mm: 49.92269586431879
+  all_robot_points:
+    mean_mm: 15.46232555267841
+    median_mm: 10.401461190441594
+    p75_mm: 22.812057754046144
+    p90_mm: 37.47049797334454
+    p95_mm: 45.26432208256066
+    max_mm: 78.28740086099509
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_008_408322072302/pose_003/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 8
+pose_id: 3
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1678999
+  robot_within_threshold: 7705
+  robot_within_threshold_pct: 96.3125
+  inliers:
+    mean_mm: 15.361247296814094
+    median_mm: 11.333483327116179
+    p75_mm: 24.09682163885095
+    p90_mm: 35.71493800901198
+    p95_mm: 41.437601068693
+    max_mm: 49.967688566125815
+  all_robot_points:
+    mean_mm: 16.955208765178615
+    median_mm: 12.050578406138053
+    p75_mm: 25.866830054817907
+    p90_mm: 39.29572804970597
+    p95_mm: 46.964883699842716
+    max_mm: 81.3100047020048
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_008_408322072302/pose_004/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 8
+pose_id: 4
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1682526
+  robot_within_threshold: 7725
+  robot_within_threshold_pct: 96.5625
+  inliers:
+    mean_mm: 14.830929132988794
+    median_mm: 11.08813714596827
+    p75_mm: 23.02168759526713
+    p90_mm: 33.99603947658664
+    p95_mm: 40.384846247444905
+    max_mm: 49.995635344143885
+  all_robot_points:
+    mean_mm: 16.305788830511343
+    median_mm: 11.754196470750582
+    p75_mm: 24.574403947061224
+    p90_mm: 38.16788811233122
+    p95_mm: 46.234283185373044
+    max_mm: 76.15063206508636
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_008_408322072302/pose_005/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 8
+pose_id: 5
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1650366
+  robot_within_threshold: 7699
+  robot_within_threshold_pct: 96.2375
+  inliers:
+    mean_mm: 15.106135381701804
+    median_mm: 10.770405506496465
+    p75_mm: 23.68733561983816
+    p90_mm: 35.71727767447364
+    p95_mm: 41.7037354387098
+    max_mm: 49.990784693357725
+  all_robot_points:
+    mean_mm: 16.69987807050488
+    median_mm: 11.679056551933904
+    p75_mm: 25.59050500802477
+    p90_mm: 39.73506366461761
+    p95_mm: 47.03418355050968
+    max_mm: 75.83894909760077
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_008_408322072302/pose_006/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 8
+pose_id: 6
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1652771
+  robot_within_threshold: 7663
+  robot_within_threshold_pct: 95.7875
+  inliers:
+    mean_mm: 14.326546979233308
+    median_mm: 10.020976887018014
+    p75_mm: 21.921422501257744
+    p90_mm: 34.22602900051323
+    p95_mm: 40.982456139692424
+    max_mm: 49.87470785924892
+  all_robot_points:
+    mean_mm: 16.2115730977198
+    median_mm: 10.748501252630522
+    p75_mm: 23.784457974912545
+    p90_mm: 39.27395832551569
+    p95_mm: 47.6686307768671
+    max_mm: 89.27089853433446
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_011_215222074939/T_cam_world.yaml

@@ -0,0 +1,22 @@
+matrix:
+- - 0.47554378248626306
+  - 0.8007628695776017
+  - 0.3641935442103589
+  - -0.4598913049891298
+- - 0.5802859552330033
+  - 0.025607888163734282
+  - -0.8140101020399653
+  - 0.1560062021127085
+- - -0.6611552927247718
+  - 0.5984338415979151
+  - -0.4524937746890919
+  - 1.3453294073245472
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+shape:
+- 4
+- 4
+dtype: float64
+description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/<serial>.yaml.'

franka_data_new/view_011_215222074939/T_cb.yaml

@@ -0,0 +1,23 @@
+matrix:
+- - 0.47554378248626306
+  - 0.8007628695776017
+  - 0.3641935442103589
+  - -0.2845862232473511
+- - 0.5802859552330033
+  - 0.025607888163734282
+  - -0.8140101020399653
+  - 0.05555034966365112
+- - -0.6611552927247718
+  - 0.5984338415979151
+  - -0.4524937746890919
+  - 1.6781893628978206
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+shape:
+- 4
+- 4
+dtype: float64
+description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed
+  by recompute_handeye_tcb.py.'

franka_data_new/view_011_215222074939/intrinsics.yaml

@@ -0,0 +1,21 @@
+K:
+- - 912.4526977539062
+  - 0.0
+  - 646.1953125
+- - 0.0
+  - 911.779296875
+  - 366.7369689941406
+- - 0.0
+  - 0.0
+  - 1.0
+dist_coeffs:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+image_hw:
+- 720
+- 1280
+description: Color-frame intrinsics. FoundationStereo depth is already warped to this
+  frame.

franka_data_new/view_011_215222074939/pose_001/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 11
+pose_id: 1
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1659932
+  robot_within_threshold: 7493
+  robot_within_threshold_pct: 93.6625
+  inliers:
+    mean_mm: 15.834489270442473
+    median_mm: 11.700635437679445
+    p75_mm: 25.09340649313442
+    p90_mm: 37.61755495817134
+    p95_mm: 42.76094926679626
+    max_mm: 49.938449673687806
+  all_robot_points:
+    mean_mm: 18.584320041450226
+    median_mm: 13.24308882058227
+    p75_mm: 28.800118051562926
+    p90_mm: 44.21504107132838
+    p95_mm: 53.13229367903287
+    max_mm: 80.26184155500023
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_011_215222074939/pose_002/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 11
+pose_id: 2
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1650626
+  robot_within_threshold: 7510
+  robot_within_threshold_pct: 93.875
+  inliers:
+    mean_mm: 16.068094236056734
+    median_mm: 12.580682847841018
+    p75_mm: 24.39151065073038
+    p90_mm: 36.738173572344756
+    p95_mm: 42.30159718532998
+    max_mm: 49.97619089911069
+  all_robot_points:
+    mean_mm: 18.667455422881343
+    median_mm: 13.964613423593399
+    p75_mm: 27.56679413046646
+    p90_mm: 43.51926203097615
+    p95_mm: 52.37113847499922
+    max_mm: 80.1934143578291
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_011_215222074939/pose_003/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 11
+pose_id: 3
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1651674
+  robot_within_threshold: 7533
+  robot_within_threshold_pct: 94.1625
+  inliers:
+    mean_mm: 16.556642073503497
+    median_mm: 12.610270609963257
+    p75_mm: 26.986407177103892
+    p90_mm: 37.96193816579751
+    p95_mm: 43.01313083875698
+    max_mm: 49.98370410596093
+  all_robot_points:
+    mean_mm: 18.944355910299905
+    median_mm: 14.13104859778695
+    p75_mm: 30.122225278466424
+    p90_mm: 43.730510463474815
+    p95_mm: 51.40172000461947
+    max_mm: 79.7596066031854
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_011_215222074939/pose_004/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 11
+pose_id: 4
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1659188
+  robot_within_threshold: 7400
+  robot_within_threshold_pct: 92.5
+  inliers:
+    mean_mm: 16.708876313619218
+    median_mm: 12.75951874945195
+    p75_mm: 26.80773235728351
+    p90_mm: 38.07024441252714
+    p95_mm: 43.02356118783127
+    max_mm: 49.987821510470596
+  all_robot_points:
+    mean_mm: 19.969697022114698
+    median_mm: 14.648799902125184
+    p75_mm: 31.427025439449395
+    p90_mm: 45.96069134758104
+    p95_mm: 55.1217621375635
+    max_mm: 91.5281069101543
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_011_215222074939/pose_005/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 11
+pose_id: 5
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1631785
+  robot_within_threshold: 7392
+  robot_within_threshold_pct: 92.4
+  inliers:
+    mean_mm: 15.605285726880343
+    median_mm: 11.431251702093917
+    p75_mm: 24.807021264643772
+    p90_mm: 37.05223450151005
+    p95_mm: 42.231523264480785
+    max_mm: 49.97760285813632
+  all_robot_points:
+    mean_mm: 19.129246482341205
+    median_mm: 13.260100325484931
+    p75_mm: 29.21247727163819
+    p90_mm: 45.51602932537212
+    p95_mm: 55.69557610792889
+    max_mm: 97.9862101771576
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_011_215222074939/pose_006/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 11
+pose_id: 6
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1628452
+  robot_within_threshold: 6912
+  robot_within_threshold_pct: 86.4
+  inliers:
+    mean_mm: 17.04488858335305
+    median_mm: 12.729158766823971
+    p75_mm: 27.476365136611243
+    p90_mm: 39.898217135976786
+    p95_mm: 44.90849473413523
+    max_mm: 49.994286893482986
+  all_robot_points:
+    mean_mm: 23.285867892538203
+    median_mm: 16.7546041257118
+    p75_mm: 36.97126535589396
+    p90_mm: 54.699550660183434
+    p95_mm: 64.43475083730954
+    max_mm: 95.24436791043793
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_011_408322072302/T_cam_world.yaml

@@ -0,0 +1,22 @@
+matrix:
+- - 0.20004497802233268
+  - 0.974093791003466
+  - 0.10546702373984351
+  - -0.5892477646187035
+- - 0.6304964412214517
+  - -0.04558727769309792
+  - -0.7748522683193341
+  - 0.04326422167363527
+- - -0.7499708290161221
+  - 0.22150188812068528
+  - -0.6232821746078117
+  - 1.2707935287635415
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+shape:
+- 4
+- 4
+dtype: float64
+description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/<serial>.yaml.'

franka_data_new/view_011_408322072302/T_cb.yaml

@@ -0,0 +1,23 @@
+matrix:
+- - 0.20004497802233268
+  - 0.974093791003466
+  - 0.10546702373984351
+  - -0.30051426288358957
+- - 0.6304964412214517
+  - -0.04558727769309792
+  - -0.7748522683193341
+  - -0.09117123560552515
+- - -0.7499708290161221
+  - 0.22150188812068528
+  - -0.6232821746078117
+  - 1.4948003875913953
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+shape:
+- 4
+- 4
+dtype: float64
+description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed
+  by recompute_handeye_tcb.py.'

franka_data_new/view_011_408322072302/intrinsics.yaml

@@ -0,0 +1,21 @@
+K:
+- - 910.6677856445312
+  - 0.0
+  - 652.4881591796875
+- - 0.0
+  - 910.5277099609375
+  - 359.45245361328125
+- - 0.0
+  - 0.0
+  - 1.0
+dist_coeffs:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+image_hw:
+- 720
+- 1280
+description: Color-frame intrinsics. FoundationStereo depth is already warped to this
+  frame.

franka_data_new/view_011_408322072302/pose_001/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 11
+pose_id: 1
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1659932
+  robot_within_threshold: 7493
+  robot_within_threshold_pct: 93.6625
+  inliers:
+    mean_mm: 15.834489270442473
+    median_mm: 11.700635437679445
+    p75_mm: 25.09340649313442
+    p90_mm: 37.61755495817134
+    p95_mm: 42.76094926679626
+    max_mm: 49.938449673687806
+  all_robot_points:
+    mean_mm: 18.584320041450226
+    median_mm: 13.24308882058227
+    p75_mm: 28.800118051562926
+    p90_mm: 44.21504107132838
+    p95_mm: 53.13229367903287
+    max_mm: 80.26184155500023
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_011_408322072302/pose_002/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 11
+pose_id: 2
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1650626
+  robot_within_threshold: 7510
+  robot_within_threshold_pct: 93.875
+  inliers:
+    mean_mm: 16.068094236056734
+    median_mm: 12.580682847841018
+    p75_mm: 24.39151065073038
+    p90_mm: 36.738173572344756
+    p95_mm: 42.30159718532998
+    max_mm: 49.97619089911069
+  all_robot_points:
+    mean_mm: 18.667455422881343
+    median_mm: 13.964613423593399
+    p75_mm: 27.56679413046646
+    p90_mm: 43.51926203097615
+    p95_mm: 52.37113847499922
+    max_mm: 80.1934143578291
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_011_408322072302/pose_003/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 11
+pose_id: 3
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1651674
+  robot_within_threshold: 7533
+  robot_within_threshold_pct: 94.1625
+  inliers:
+    mean_mm: 16.556642073503497
+    median_mm: 12.610270609963257
+    p75_mm: 26.986407177103892
+    p90_mm: 37.96193816579751
+    p95_mm: 43.01313083875698
+    max_mm: 49.98370410596093
+  all_robot_points:
+    mean_mm: 18.944355910299905
+    median_mm: 14.13104859778695
+    p75_mm: 30.122225278466424
+    p90_mm: 43.730510463474815
+    p95_mm: 51.40172000461947
+    max_mm: 79.7596066031854
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_011_408322072302/pose_004/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 11
+pose_id: 4
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1659188
+  robot_within_threshold: 7400
+  robot_within_threshold_pct: 92.5
+  inliers:
+    mean_mm: 16.708876313619218
+    median_mm: 12.75951874945195
+    p75_mm: 26.80773235728351
+    p90_mm: 38.07024441252714
+    p95_mm: 43.02356118783127
+    max_mm: 49.987821510470596
+  all_robot_points:
+    mean_mm: 19.969697022114698
+    median_mm: 14.648799902125184
+    p75_mm: 31.427025439449395
+    p90_mm: 45.96069134758104
+    p95_mm: 55.1217621375635
+    max_mm: 91.5281069101543
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_011_408322072302/pose_005/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 11
+pose_id: 5
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1631785
+  robot_within_threshold: 7392
+  robot_within_threshold_pct: 92.4
+  inliers:
+    mean_mm: 15.605285726880343
+    median_mm: 11.431251702093917
+    p75_mm: 24.807021264643772
+    p90_mm: 37.05223450151005
+    p95_mm: 42.231523264480785
+    max_mm: 49.97760285813632
+  all_robot_points:
+    mean_mm: 19.129246482341205
+    median_mm: 13.260100325484931
+    p75_mm: 29.21247727163819
+    p90_mm: 45.51602932537212
+    p95_mm: 55.69557610792889
+    max_mm: 97.9862101771576
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_011_408322072302/pose_006/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 11
+pose_id: 6
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1628452
+  robot_within_threshold: 6912
+  robot_within_threshold_pct: 86.4
+  inliers:
+    mean_mm: 17.04488858335305
+    median_mm: 12.729158766823971
+    p75_mm: 27.476365136611243
+    p90_mm: 39.898217135976786
+    p95_mm: 44.90849473413523
+    max_mm: 49.994286893482986
+  all_robot_points:
+    mean_mm: 23.285867892538203
+    median_mm: 16.7546041257118
+    p75_mm: 36.97126535589396
+    p90_mm: 54.699550660183434
+    p95_mm: 64.43475083730954
+    max_mm: 95.24436791043793
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_013_408322072302/T_cam_world.yaml

@@ -0,0 +1,22 @@
+matrix:
+- - -0.019406661072544462
+  - 0.9903969138430859
+  - 0.1368843839015484
+  - -0.23303469728174042
+- - 0.5600759033706388
+  - 0.124181151943803
+  - -0.8190812071861209
+  - 0.11485073539033429
+- - -0.8282139602600154
+  - 0.06077001359224149
+  - -0.5571073877435304
+  - 1.3388721636022833
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+shape:
+- 4
+- 4
+dtype: float64
+description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/<serial>.yaml.'

franka_data_new/view_013_408322072302/T_cb.yaml

@@ -0,0 +1,23 @@
+matrix:
+- - -0.019406661072544462
+  - 0.9903969138430859
+  - 0.1368843839015484
+  - 0.10382893967301798
+- - 0.5600759033706388
+  - 0.124181151943803
+  - -0.8190812071861209
+  - 0.051580388474051914
+- - -0.8282139602600154
+  - 0.06077001359224149
+  - -0.5571073877435304
+  - 1.5236389173722893
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+shape:
+- 4
+- 4
+dtype: float64
+description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed
+  by recompute_handeye_tcb.py.'

franka_data_new/view_013_408322072302/intrinsics.yaml

@@ -0,0 +1,21 @@
+K:
+- - 910.6677856445312
+  - 0.0
+  - 652.4881591796875
+- - 0.0
+  - 910.5277099609375
+  - 359.45245361328125
+- - 0.0
+  - 0.0
+  - 1.0
+dist_coeffs:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+image_hw:
+- 720
+- 1280
+description: Color-frame intrinsics. FoundationStereo depth is already warped to this
+  frame.

franka_data_new/view_013_408322072302/pose_001/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 13
+pose_id: 1
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1801501
+  robot_within_threshold: 7282
+  robot_within_threshold_pct: 91.025
+  inliers:
+    mean_mm: 16.93903512992844
+    median_mm: 13.156185216069407
+    p75_mm: 26.571883564020123
+    p90_mm: 38.13265146190745
+    p95_mm: 43.45696106012532
+    max_mm: 49.988859170622945
+  all_robot_points:
+    mean_mm: 20.991346043551268
+    median_mm: 15.306348614428527
+    p75_mm: 31.65991507867368
+    p90_mm: 48.46514317671284
+    p95_mm: 58.19817471037475
+    max_mm: 106.00171203178444
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_013_408322072302/pose_002/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 13
+pose_id: 2
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1799372
+  robot_within_threshold: 7257
+  robot_within_threshold_pct: 90.7125
+  inliers:
+    mean_mm: 16.98015543311847
+    median_mm: 12.665122330778381
+    p75_mm: 27.17974426313319
+    p90_mm: 38.20858841887618
+    p95_mm: 43.379653582106094
+    max_mm: 49.983717535344404
+  all_robot_points:
+    mean_mm: 21.235519045478124
+    median_mm: 15.42127504166162
+    p75_mm: 32.6881219153476
+    p90_mm: 48.777649557325326
+    p95_mm: 59.15655329314467
+    max_mm: 96.48835254489065
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_013_408322072302/pose_003/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 13
+pose_id: 3
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1784293
+  robot_within_threshold: 7505
+  robot_within_threshold_pct: 93.8125
+  inliers:
+    mean_mm: 15.474835337185999
+    median_mm: 10.713534114192926
+    p75_mm: 23.529413126140284
+    p90_mm: 37.710550175601526
+    p95_mm: 43.38599228634337
+    max_mm: 49.98186634203353
+  all_robot_points:
+    mean_mm: 18.03274289450118
+    median_mm: 12.137860196950594
+    p75_mm: 27.542113575152438
+    p90_mm: 44.467213250463494
+    p95_mm: 51.85022612232818
+    max_mm: 81.07302592211498
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_013_408322072302/pose_004/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 13
+pose_id: 4
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1784752
+  robot_within_threshold: 7482
+  robot_within_threshold_pct: 93.525
+  inliers:
+    mean_mm: 16.60801182478962
+    median_mm: 11.966639303532283
+    p75_mm: 26.01530398818841
+    p90_mm: 38.8355806246003
+    p95_mm: 43.58418861568887
+    max_mm: 49.99328404872947
+  all_robot_points:
+    mean_mm: 19.319311719964038
+    median_mm: 13.260726800411357
+    p75_mm: 30.079655042480457
+    p90_mm: 45.06859209012855
+    p95_mm: 52.621420421692605
+    max_mm: 88.4143031436593
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_013_408322072302/pose_005/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 13
+pose_id: 5
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1803487
+  robot_within_threshold: 7243
+  robot_within_threshold_pct: 90.5375
+  inliers:
+    mean_mm: 17.831798543410446
+    median_mm: 14.178913445050098
+    p75_mm: 28.308235905853245
+    p90_mm: 39.23984938168911
+    p95_mm: 44.10368738959153
+    max_mm: 49.989991776955065
+  all_robot_points:
+    mean_mm: 22.004000511809657
+    median_mm: 17.1787624993569
+    p75_mm: 33.2582958865996
+    p90_mm: 49.13896484083634
+    p95_mm: 58.281991618026275
+    max_mm: 92.23676268787176
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_013_408322072302/pose_006/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 13
+pose_id: 6
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1794377
+  robot_within_threshold: 7491
+  robot_within_threshold_pct: 93.6375
+  inliers:
+    mean_mm: 16.698849399274142
+    median_mm: 12.846047649908682
+    p75_mm: 25.39318343108345
+    p90_mm: 38.13295166293577
+    p95_mm: 43.14336738358783
+    max_mm: 49.988658763276156
+  all_robot_points:
+    mean_mm: 19.399675587173856
+    median_mm: 14.129365276773905
+    p75_mm: 29.12611852761532
+    p90_mm: 44.34167095827138
+    p95_mm: 52.517337490903714
+    max_mm: 82.6334096568065
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_014_215222074939/T_cam_world.yaml

@@ -0,0 +1,22 @@
+matrix:
+- - 0.3871629583724242
+  - 0.895757239298312
+  - 0.218457803497561
+  - -0.3552419975411655
+- - 0.5499445136944352
+  - -0.03417751574533348
+  - -0.8345016053159325
+  - 0.17805308825638966
+- - -0.7400445091490804
+  - 0.4432277807878743
+  - -0.5058490474599634
+  - 1.3314559534887014
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+shape:
+- 4
+- 4
+dtype: float64
+description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/<serial>.yaml.'

franka_data_new/view_014_215222074939/T_cb.yaml

@@ -0,0 +1,23 @@
+matrix:
+- - 0.3871629583724242
+  - 0.895757239298312
+  - 0.218457803497561
+  - -0.12996087379774487
+- - 0.5499445136944352
+  - -0.03417751574533348
+  - -0.8345016053159325
+  - 0.06346859330637707
+- - -0.7400445091490804
+  - 0.4432277807878743
+  - -0.5058490474599634
+  - 1.6276616401355855
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+shape:
+- 4
+- 4
+dtype: float64
+description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed
+  by recompute_handeye_tcb.py.'

franka_data_new/view_014_215222074939/intrinsics.yaml

@@ -0,0 +1,21 @@
+K:
+- - 912.4526977539062
+  - 0.0
+  - 646.1953125
+- - 0.0
+  - 911.779296875
+  - 366.7369689941406
+- - 0.0
+  - 0.0
+  - 1.0
+dist_coeffs:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+image_hw:
+- 720
+- 1280
+description: Color-frame intrinsics. FoundationStereo depth is already warped to this
+  frame.

franka_data_new/view_014_215222074939/pose_001/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 14
+pose_id: 1
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1772088
+  robot_within_threshold: 7545
+  robot_within_threshold_pct: 94.3125
+  inliers:
+    mean_mm: 16.382442546403077
+    median_mm: 12.364038945406934
+    p75_mm: 25.87987700914841
+    p90_mm: 37.46219818835996
+    p95_mm: 42.808035386816144
+    max_mm: 49.989033395514305
+  all_robot_points:
+    mean_mm: 18.727590902274905
+    median_mm: 13.751221773193718
+    p75_mm: 28.909718392249008
+    p90_mm: 43.24409514883896
+    p95_mm: 51.08108395296341
+    max_mm: 83.9298218393364
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_014_215222074939/pose_002/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 14
+pose_id: 2
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1776539
+  robot_within_threshold: 7085
+  robot_within_threshold_pct: 88.5625
+  inliers:
+    mean_mm: 16.777671985732624
+    median_mm: 12.323815955244731
+    p75_mm: 26.987318114424685
+    p90_mm: 39.024245537907134
+    p95_mm: 43.886167541284316
+    max_mm: 49.98736717436157
+  all_robot_points:
+    mean_mm: 22.204098635691437
+    median_mm: 15.539492719392435
+    p75_mm: 34.094743340072604
+    p90_mm: 52.3332322751306
+    p95_mm: 63.74181703764851
+    max_mm: 99.99815557817368
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_014_215222074939/pose_003/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 14
+pose_id: 3
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1753999
+  robot_within_threshold: 7332
+  robot_within_threshold_pct: 91.65
+  inliers:
+    mean_mm: 15.633626209693727
+    median_mm: 11.394858664799742
+    p75_mm: 24.787363155398637
+    p90_mm: 37.12139078226077
+    p95_mm: 42.89422166564208
+    max_mm: 49.998989825623354
+  all_robot_points:
+    mean_mm: 19.297842083056022
+    median_mm: 13.597773750376636
+    p75_mm: 29.94062959001143
+    p90_mm: 47.28640041712167
+    p95_mm: 55.931610913775195
+    max_mm: 87.87666074276943
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_014_215222074939/pose_004/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 14
+pose_id: 4
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1753383
+  robot_within_threshold: 7496
+  robot_within_threshold_pct: 93.7
+  inliers:
+    mean_mm: 15.707283896205185
+    median_mm: 11.211017541313883
+    p75_mm: 25.204135625693088
+    p90_mm: 37.52340589867857
+    p95_mm: 43.119838878702176
+    max_mm: 49.99920349490622
+  all_robot_points:
+    mean_mm: 18.559022575221036
+    median_mm: 12.884923221523009
+    p75_mm: 28.973140102458444
+    p90_mm: 44.34134809567452
+    p95_mm: 52.3590809700323
+    max_mm: 97.12435830021376
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_014_215222074939/pose_005/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 14
+pose_id: 5
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1751585
+  robot_within_threshold: 7359
+  robot_within_threshold_pct: 91.9875
+  inliers:
+    mean_mm: 16.1036878234678
+    median_mm: 11.699501221863196
+    p75_mm: 25.327835849988894
+    p90_mm: 38.04614906193829
+    p95_mm: 43.21958590593571
+    max_mm: 49.99307601063985
+  all_robot_points:
+    mean_mm: 19.55212387796691
+    median_mm: 13.698846808341317
+    p75_mm: 30.544812688125653
+    p90_mm: 46.88722987999405
+    p95_mm: 55.0167843354605
+    max_mm: 84.61209030135483
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_014_215222074939/pose_006/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 14
+pose_id: 6
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1780778
+  robot_within_threshold: 6653
+  robot_within_threshold_pct: 83.1625
+  inliers:
+    mean_mm: 17.81424247553238
+    median_mm: 14.210413861393842
+    p75_mm: 27.911690753939524
+    p90_mm: 39.19365044256361
+    p95_mm: 44.471311659789194
+    max_mm: 49.9216547058504
+  all_robot_points:
+    mean_mm: 26.345524089218777
+    median_mm: 19.054260337111927
+    p75_mm: 39.384708707159
+    p90_mm: 61.135268943777824
+    p95_mm: 74.27916879552983
+    max_mm: 116.44696990313415
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_016_408322072302/T_cam_world.yaml

@@ -0,0 +1,22 @@
+matrix:
+- - 0.24688298366051548
+  - 0.9653682756225489
+  - 0.08433792029940218
+  - -0.47365790165447813
+- - 0.5522420371276328
+  - -0.0686440067806828
+  - -0.8308530151369832
+  - 0.18085266870214795
+- - -0.7962898497456841
+  - 0.25169841627360345
+  - -0.5500639803126142
+  - 1.2840637233557208
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+shape:
+- 4
+- 4
+dtype: float64
+description: 'World-to-camera transform (T_cam_world). Provenance: copied from cam_extrinsics/<serial>.yaml.'

franka_data_new/view_016_408322072302/T_cb.yaml

@@ -0,0 +1,23 @@
+matrix:
+- - 0.24688298366051548
+  - 0.9653682756225489
+  - 0.08433792029940218
+  - -0.1968926641849767
+- - 0.5522420371276328
+  - -0.0686440067806828
+  - -0.8308530151369832
+  - 0.05418670625285438
+- - -0.7962898497456841
+  - 0.25169841627360345
+  - -0.5500639803126142
+  - 1.5269129302418967
+- - 0.0
+  - 0.0
+  - 0.0
+  - 1.0
+shape:
+- 4
+- 4
+dtype: float64
+description: 'Camera-from-base transform (T_cb). Usage: P_cam = T_cb @ P_base. Recomputed
+  by recompute_handeye_tcb.py.'

franka_data_new/view_016_408322072302/intrinsics.yaml

@@ -0,0 +1,21 @@
+K:
+- - 910.6677856445312
+  - 0.0
+  - 652.4881591796875
+- - 0.0
+  - 910.5277099609375
+  - 359.45245361328125
+- - 0.0
+  - 0.0
+  - 1.0
+dist_coeffs:
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+- 0.0
+image_hw:
+- 720
+- 1280
+description: Color-frame intrinsics. FoundationStereo depth is already warped to this
+  frame.

franka_data_new/view_016_408322072302/pose_001/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 16
+pose_id: 1
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1753088
+  robot_within_threshold: 7411
+  robot_within_threshold_pct: 92.6375
+  inliers:
+    mean_mm: 16.428525917588768
+    median_mm: 12.333937112893896
+    p75_mm: 26.109913223042888
+    p90_mm: 38.28176221772357
+    p95_mm: 43.9327441588492
+    max_mm: 49.997360694131025
+  all_robot_points:
+    mean_mm: 19.695931181474986
+    median_mm: 14.379897517987395
+    p75_mm: 30.29159343205514
+    p90_mm: 46.655092819934055
+    p95_mm: 55.56890096394121
+    max_mm: 88.39627011435616
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."

franka_data_new/view_016_408322072302/pose_002/precision.yaml

@@ -0,0 +1,29 @@
+view_id: 16
+pose_id: 2
+T_world_base_source: /tmp/candidate_T_world_base.yaml
+metrics:
+  inlier_threshold_mm: 50.0
+  robot_points: 8000
+  scene_points: 1750671
+  robot_within_threshold: 7302
+  robot_within_threshold_pct: 91.275
+  inliers:
+    mean_mm: 17.265867447749137
+    median_mm: 12.586074116913547
+    p75_mm: 28.201336206545964
+    p90_mm: 40.537294363172066
+    p95_mm: 45.08845605663443
+    max_mm: 49.997494903072635
+  all_robot_points:
+    mean_mm: 20.893133445491507
+    median_mm: 15.269921186465744
+    p75_mm: 33.995797098533686
+    p90_mm: 48.4027658318178
+    p95_mm: 55.68907078045645
+    max_mm: 88.6981121344115
+metric_description: "URDF-mesh \u2194 scene-cloud nearest-neighbor distance (millimeters).\
+  \ `inliers` is the per-point distance from each URDF mesh point to its nearest scene\
+  \ point, restricted to URDF points within inlier_threshold_mm of the scene (excludes\
+  \ occluded/out-of-frame URDF points). `inliers.median_mm` is the most useful single\
+  \ number for calibration precision; well-calibrated rigs typically read 5\u2013\
+  15 mm."