{
  "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."
}