| { | |
| "delta_T_base": [ | |
| [ | |
| 0.9975473880767822, | |
| -0.010140538215637207, | |
| 0.069256991147995, | |
| -0.0065887197852134705 | |
| ], | |
| [ | |
| 0.019781414419412613, | |
| 0.9899570941925049, | |
| -0.13997477293014526, | |
| -0.0004940629005432129 | |
| ], | |
| [ | |
| -0.06714174151420593, | |
| 0.14100143313407898, | |
| 0.9877298474311829, | |
| 0.09220853447914124 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "trans_cm": 9.244495630264282, | |
| "rot_deg": 9.026041984558105, | |
| "rms_before_cm": 6.732224673032761, | |
| "rms_after_cm": 6.239364296197891, | |
| "n_frames": 48, | |
| "splits": [ | |
| "test", | |
| "val", | |
| "train" | |
| ], | |
| "urdf": "data/SHEC3R_Real/ur5e/shec3r_ur5e_left_20260801_entries001-030/robots/ur5e_left/urdf/ur5e_left_calibrated.urdf", | |
| "verdict": "DEEPER MISMATCH: no single rigid \u0394T aligns the arm \u2014 kinematics/scale differ. A gripper URDF alone will NOT fix refine; need a correctly-calibrated URDF." | |
| } |