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\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_left_camera_top_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_left_camera_top_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..52f257aade9cfeb9547f6b63dd516bd60b88aaa0
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_left_camera_top_extrinsics.json
@@ -0,0 +1 @@
+{"top": {"cameraMatrix": [[695.5634765625, 0.0, 642.3822631835938], [0.0, 695.807373046875, 359.6387634277344], [0.0, 0.0, 1.0]], "distCoeffs": [0.03154362895544432, -0.09942584930327161, 0.0021348651319637872, -0.0023247926219577895, 0.054841662270944315], "pose": [0.23134264764521, -0.21266832591965482, -0.26991536722163484, 0.3298271923043689, 0.8168962177691137, -0.008470221003502641], "serial": "[]", "timestamp": 1755240011.044112}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_left_camera_wrist_left_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_left_camera_wrist_left_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6ad15499c90fd36f3389372d6688737ce783fd4
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_left_camera_wrist_left_extrinsics.json
@@ -0,0 +1 @@
+{"wrist_left": {"cameraMatrix": [[462.7032470703125, 0.0, 318.3021545410156], [0.0, 462.6568908691406, 241.7897491455078], [0.0, 0.0, 1.0]], "distCoeffs": [0.014172756753287996, -0.1311741585224131, -0.001194021548892025, -0.0026592025485986837, 0.15287261542130262], "pose": [-0.0013763804765207824, -0.08139171969813308, 0.010053870413238967, -0.010664861319347038, -0.008993223302275588, 0.00932474692782877], "serial": "[]", "timestamp": 1755240307.9811308}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_right_camera_front_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_right_camera_front_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..99303ac315c8f913ebe711f9569a5a52534d0ac2
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_right_camera_front_extrinsics.json
@@ -0,0 +1 @@
+{"front": {"cameraMatrix": [[693.030517578125, 0.0, 644.9820556640625], [0.0, 693.2359619140625, 362.6943054199219], [0.0, 0.0, 1.0]], "distCoeffs": [0.018018011546118023, -0.08652096557254436, 0.0010606157021645615, -0.0036984435063176385, 0.060562055445300925], "pose": [-0.21895057232909165, -0.8536005519444886, -0.24932548746805042, 0.4458935796391962, 0.805886326808964, -3.0557027935413683], "serial": "[]", "timestamp": 1755241145.6332505}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_right_camera_right_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_right_camera_right_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9242d9e4ddad1b723e5ebcebfccd25f656bb4b0
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_right_camera_right_extrinsics.json
@@ -0,0 +1 @@
+{"right": {"cameraMatrix": [[366.7298278808594, 0.0, 320.77886962890625], [0.0, 366.794189453125, 231.7418975830078], [0.0, 0.0, 1.0]], "distCoeffs": [0.010338070640150791, -0.06062720921984057, -0.00043007618049923854, 0.001164412294637653, 0.0653115691144431], "pose": [0.7289151249073762, -0.4059131432905429, 0.4073609778120367, 1.3735418241338069, 0.03883736810996763, -1.605770944986325], "serial": "[]", "timestamp": 1755242625.3402393}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_right_camera_top_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_right_camera_top_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5ebf3488e018f97f4aec03633c4161afbf4211a
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_right_camera_top_extrinsics.json
@@ -0,0 +1 @@
+{"top": {"cameraMatrix": [[695.5634765625, 0.0, 642.3822631835938], [0.0, 695.807373046875, 359.6387634277344], [0.0, 0.0, 1.0]], "distCoeffs": [0.04411711040306571, -0.1393754854618586, -0.0009158754464840186, 0.0011802893571189776, 0.10620924527587011], "pose": [-0.22725682514654857, -0.21343202182915705, -0.22903651756860033, 0.33824350571516326, -0.7441446814093974, 0.030003169738047644], "serial": "[]", "timestamp": 1755240965.8945427}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_right_camera_wrist_right_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_right_camera_wrist_right_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..82f3bdcdbcacb5cb3f5e0ca5d454ae419022dc3f
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/arm_right_camera_wrist_right_extrinsics.json
@@ -0,0 +1 @@
+{"wrist_right": {"cameraMatrix": [[460.3302917480469, 0.0, 321.5438537597656], [0.0, 460.2252502441406, 236.63864135742188], [0.0, 0.0, 1.0]], "distCoeffs": [0.012031079875329195, -0.07950679604358885, -0.000595555444956458, 0.0013324879051398299, 0.07600652624133082], "pose": [-0.014330014934571068, -0.08358856054373115, 0.0393696520589926, -0.012538901477816852, -0.005525387063733289, -0.0007050634108894287], "serial": "[]", "timestamp": 1755240478.700488}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/camera_calibrator_configuration.toml b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/camera_calibrator_configuration.toml
new file mode 100644
index 0000000000000000000000000000000000000000..99f2c0ace0b40d2fd10c73cfadcca60d68105f88
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/camera_calibrator_configuration.toml
@@ -0,0 +1,40 @@
+# ~/.config/xhumanoid/xrocs/default.toml
+
+[board]
+
+[board.charuco]
+CHARUCOBOARD_ROWCOUNT = 9
+CHARUCOBOARD_COLCOUNT = 14
+CHARUCOBOARD_CHECKER_SIZE = 0.020
+CHARUCOBOARD_MARKER_SIZE = 0.015
+
+[camera]
+[camera.left]
+joints = [[-2.038359, -1.89597, -0.625838, -2.269012, -4.698012, -0.493931], [-2.039216, -1.892847, -0.626906, -2.279103, -4.698091, -0.49409], [-2.040842, -1.894221, -0.629666, -2.27311, -4.696175, -0.504392], [-2.058377, -1.899298, -0.630451, -2.26712, -4.694067, -0.513883], [-2.063907, -1.897503, -0.630479, -2.267602, -4.693964, -0.511639], [-2.095023, -1.890837, -0.630208, -2.275387, -4.69295, -0.514424], [-2.135506, -1.884503, -0.629196, -2.282843, -4.692447, -0.540205], [-2.166637, -1.860515, -0.63199, -2.311191, -4.692431, -0.561458], [-2.204921, -1.853755, -0.638819, -2.325837, -4.690517, -0.588805], [-2.229311, -1.854501, -0.645514, -2.328411, -4.683066, -0.621995], [-2.240314, -1.853167, -0.655933, -2.328967, -4.665214, -0.625771], [-2.244359, -1.853051, -0.659995, -2.330112, -4.642623, -0.62755], [-2.277676, -1.853036, -0.659698, -2.330108, -4.638855, -0.660088], [-2.316205, -1.849114, -0.660962, -2.331984, -4.632144, -0.689921], [-2.326211, -1.84845, -0.662609, -2.336704, -4.629584, -0.699307], [-2.331475, -1.847296, -0.665013, -2.337784, -4.629551, -0.699611], [-2.326013, -1.848363, -0.681957, -2.336052, -4.618087, -0.693367], [-2.31831, -1.852281, -0.691301, -2.329938, -4.593518, -0.688857], [-2.303707, -1.8583, -0.699327, -2.312921, -4.57024, -0.688753], [-2.28861, -1.859159, -0.72398, -2.26792, -4.546426, -0.688769], [-2.241985, -1.86457, -0.715639, -2.241065, -4.542185, -0.659539], [-2.213414, -1.865239, -0.711511, -2.222403, -4.54211, -0.617128], [-2.179855, -1.885931, -0.670376, -2.216614, -4.543151, -0.601829], [-2.146071, -1.910701, -0.631604, -2.21952, -4.54582, -0.575823], [-2.124538, -1.928238, -0.604734, -2.222573, -4.554255, -0.558098], [-2.106667, -1.948151, -0.566792, -2.224932, -4.563228, -0.533496], [-2.094123, -1.959579, -0.545458, -2.226041, -4.58327, -0.502929], [-2.084537, -1.961989, -0.543089, -2.232875, -4.598009, -0.47294], [-2.073349, -1.988342, -0.519098, -2.233463, -4.600404, -0.46313], [-2.056035, -2.01566, -0.482863, -2.233447, -4.60122, -0.443624], [-2.040892, -2.039327, -0.454914, -2.233475, -4.600406, -0.4273], [-2.037186, -2.044306, -0.445791, -2.233463, -4.601875, -0.421933], [-2.036574, -2.049168, -0.44386, -2.233471, -4.603408, -0.420395], [-2.035055, -2.044363, -0.442312, -2.238796, -4.61082, -0.421655], [-2.03587, -2.036521, -0.441814, -2.252624, -4.621503, -0.427243], [-2.038322, -2.035053, -0.441769, -2.253452, -4.612152, -0.527194], [-2.037801, -2.035413, -0.441797, -2.2534, -4.596748, -0.659258], [-2.037126, -2.034682, -0.441797, -2.253404, -4.599347, -0.696288], [-2.035276, -2.032824, -0.440371, -2.253422, -4.63218, -0.585772], [-2.032018, -2.024463, -0.445159, -2.255164, -4.656228, -0.408469], [-2.03147, -2.018862, -0.454729, -2.259382, -4.661659, -0.291475], [-2.031006, -2.019853, -0.455596, -2.268368, -4.661736, -0.241746], [-2.030983, -2.018782, -0.455592, -2.277794, -4.661786, -0.203955], [-2.02977, -2.019082, -0.455585, -2.276498, -4.661782, -0.16167], [-2.030807, -2.018754, -0.455573, -2.276445, -4.660018, -0.180647], [-2.035227, -2.017691, -0.455616, -2.277111, -4.649619, -0.28354], [-2.051667, -2.008107, -0.464424, -2.303184, -4.647997, -0.326613], [-2.085466, -1.978932, -0.471728, -2.341893, -4.648241, -0.348885], [-2.133266, -1.941994, -0.497137, -2.369953, -4.653739, -0.365389], [-2.148407, -1.89918, -0.566817, -2.371107, -4.658242, -0.275848], [-2.150105, -1.882263, -0.598067, -2.366021, -4.649855, -0.176404], [-2.149242, -1.880736, -0.59851, -2.36167, -4.618044, -0.21476], [-2.14709, -1.880664, -0.597743, -2.359643, -4.593223, -0.341687], [-2.148499, -1.880649, -0.596191, -2.359436, -4.553366, -0.49173], [-2.148057, -1.880664, -0.596727, -2.359659, -4.518059, -0.599301], [-2.145541, -1.881615, -0.592095, -2.334503, -4.514416, -0.744813], [-2.144542, -1.882679, -0.586187, -2.283458, -4.522399, -0.817142], [-2.144526, -1.883674, -0.585988, -2.268481, -4.539568, -0.858945], [-2.151055, -1.885142, -0.588078, -2.268229, -4.613778, -0.827205], [-2.153403, -1.882843, -0.59885, -2.270473, -4.64134, -0.735512], [-2.154893, -1.879765, -0.612664, -2.276011, -4.656691, -0.623224], [-2.159243, -1.875886, -0.608699, -2.277476, -4.679825, -0.539881], [-2.191441, -1.844681, -0.608717, -2.281172, -4.668612, -0.574876], [-2.243356, -1.835621, -0.609525, -2.299863, -4.66791, -0.637506], [-2.268038, -1.817537, -0.617515, -2.352748, -4.68046, -0.645684], [-2.282999, -1.777203, -0.675994, -2.357816, -4.695704, -0.653105], [-2.288617, -1.770299, -0.708832, -2.346713, -4.685405, -0.683482], [-2.283457, -1.771536, -0.718546, -2.343962, -4.677279, -0.683523], [-2.278605, -1.772314, -0.719737, -2.343113, -4.657877, -0.738075], [-2.276481, -1.771795, -0.723404, -2.338954, -4.643673, -0.870578], [-2.26956, -1.771759, -0.723616, -2.334982, -4.643353, -1.000496], [-2.268768, -1.770774, -0.728613, -2.334718, -4.637618, -1.075695], [-2.268759, -1.768803, -0.742884, -2.330755, -4.637737, -1.076049], [-2.267298, -1.768683, -0.74603, -2.32694, -4.630285, -1.104833], [-2.263215, -1.759872, -0.758042, -2.32025, -4.631184, -0.998456], [-2.263068, -1.735473, -0.795283, -2.304364, -4.640921, -0.821337], [-2.264039, -1.724196, -0.820266, -2.288129, -4.643653, -0.673747], [-2.263685, -1.716447, -0.838871, -2.277101, -4.648298, -0.543691], [-2.263188, -1.713997, -0.843021, -2.272629, -4.647292, -0.487284], [-2.26214, -1.714367, -0.848157, -2.263958, -4.63744, -0.57051], [-2.261123, -1.714769, -0.856931, -2.262641, -4.625491, -0.675212], [-2.249294, -1.716256, -0.866761, -2.247197, -4.623456, -0.671832], [-2.23125, -1.722873, -0.896251, -2.196225, -4.623045, -0.658587], [-2.192468, -1.726937, -0.90449, -2.166638, -4.618949, -0.62593], [-2.168237, -1.725857, -0.905063, -2.15795, -4.602458, -0.589676], [-2.144722, -1.72791, -0.90223, -2.137604, -4.601934, -0.576629], [-2.11394, -1.732302, -0.891109, -2.105556, -4.601934, -0.563689], [-2.088355, -1.771433, -0.8438, -2.10036, -4.603353, -0.541328], [-2.075532, -1.802231, -0.800096, -2.104341, -4.609243, -0.506831], [-2.050216, -1.826742, -0.75652, -2.112954, -4.611543, -0.466449], [-2.038493, -1.875067, -0.699089, -2.116011, -4.624841, -0.452997], [-2.021228, -1.887511, -0.692361, -2.115413, -4.642418, -0.429982], [-2.002052, -1.896367, -0.673434, -2.115994, -4.643365, -0.417602], [-1.975387, -1.903523, -0.652384, -2.119457, -4.644799, -0.400192], [-1.956638, -1.90423, -0.639648, -2.129226, -4.655956, -0.391376], [-1.945821, -1.905173, -0.6284, -2.148836, -4.670271, -0.38577], [-1.943623, -1.914096, -0.623052, -2.1639, -4.690435, -0.385404], [-1.940543, -1.939417, -0.609274, -2.166594, -4.697644, -0.385025], [-1.937541, -1.941201, -0.603108, -2.184331, -4.712161, -0.385364], [-1.941706, -1.935236, -0.59899, -2.20546, -4.731775, -0.389271]]
+hand_camera = false
+arm_name = "left"
+
+[camera.right]
+joints = [[2.258353, -0.789192, 1.901773, -2.653061, 1.718939, -0.864734], [2.253465, -0.788016, 1.903104, -2.650945, 1.718114, -0.861833], [2.251996, -0.786992, 1.90363, -2.650727, 1.71805, -0.864096], [2.253247, -0.787843, 1.906796, -2.652385, 1.716709, -0.865572], [2.286944, -0.792993, 1.930442, -2.674999, 1.721693, -0.862566], [2.328718, -0.796488, 1.970334, -2.723182, 1.723159, -0.870942], [2.36394, -0.80448, 1.998855, -2.733557, 1.718431, -0.896444], [2.371458, -0.809517, 2.016424, -2.736021, 1.718117, -0.89883], [2.341489, -0.813831, 2.008847, -2.727423, 1.719475, -0.893472], [2.296171, -0.81888, 2.000083, -2.71398, 1.721554, -0.883457], [2.25984, -0.809027, 1.959361, -2.664122, 1.7205, -0.866652], [2.221702, -0.780297, 1.883239, -2.604424, 1.720981, -0.821321], [2.17791, -0.768784, 1.82843, -2.559208, 1.7201, -0.794258], [2.160183, -0.748514, 1.762129, -2.519376, 1.720572, -0.789158], [2.155123, -0.745638, 1.735952, -2.496896, 1.72154, -0.788523], [2.152223, -0.741068, 1.701162, -2.479837, 1.723632, -0.788445], [2.149849, -0.729433, 1.680052, -2.478936, 1.724179, -0.788463], [2.149351, -0.72772, 1.658654, -2.449324, 1.725209, -0.780576], [2.150218, -0.723159, 1.656986, -2.440395, 1.726085, -0.773068], [2.162326, -0.714949, 1.690777, -2.485342, 1.717022, -0.774469], [2.200289, -0.726133, 1.76201, -2.55479, 1.684094, -0.771978], [2.233948, -0.756258, 1.818216, -2.593504, 1.656184, -0.77631], [2.243237, -0.783866, 1.836922, -2.585919, 1.591308, -0.779001], [2.230061, -0.808137, 1.867861, -2.548568, 1.552296, -0.777918], [2.220861, -0.815585, 1.897438, -2.524967, 1.546932, -0.77436], [2.23129, -0.828709, 1.925641, -2.524945, 1.54775, -0.775643], [2.199565, -0.828575, 1.981262, -2.550799, 1.535605, -0.774372], [2.17264, -0.829245, 2.016379, -2.582269, 1.526987, -0.774233], [2.153742, -0.830876, 2.052617, -2.616539, 1.526339, -0.769119], [2.1336, -0.832758, 2.077054, -2.632873, 1.526999, -0.749139], [2.148093, -0.858174, 2.126108, -2.666633, 1.529077, 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+hand_camera = false
+arm_name = "right"
+[camera.wrist_left]
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+hand_camera = true
+arm_name = "left"
+
+[camera.wrist_right]
+joints = [[1.379094, -1.435987, 1.987203, -2.029433, 2.309774, 0.096853], [1.375985, -1.445953, 1.988561, -2.029428, 2.297471, 0.096986], [1.37597, -1.454066, 1.983704, -2.028774, 2.292994, 0.095838], [1.405407, -1.484275, 1.955637, -2.020729, 2.302351, 0.079228], [1.488442, -1.48492, 1.862296, -1.961353, 2.330586, 0.038519], [1.522624, -1.480742, 1.831958, -1.952934, 2.331603, 0.034513], [1.52319, -1.473639, 1.784996, -1.94835, 2.331651, -0.004525], [1.534353, -1.472139, 1.750163, -1.948162, 2.331326, -0.032695], [1.541963, -1.444593, 1.778793, -1.955353, 2.32233, 0.004257], [1.484607, -1.4287, 1.846566, -1.964781, 2.319536, 0.073147], [1.414953, -1.386506, 1.869962, -1.981738, 2.294688, 0.150815], [1.367068, -1.377556, 1.915733, -2.009841, 2.284687, 0.190749], [1.325422, -1.377503, 1.946664, -2.036904, 2.282221, 0.212302], [1.281232, -1.374482, 1.97237, -2.037116, 2.265123, 0.273768], [1.26889, -1.374674, 1.99202, -2.037135, 2.254981, 0.356694], [1.242951, -1.374433, 2.025209, -2.048161, 2.246091, 0.393454], [1.221484, -1.374441, 2.051907, -2.065598, 2.245762, 0.403794], [1.212314, -1.375372, 2.053996, -2.073126, 2.239151, 0.407302], [1.229248, -1.411769, 2.046306, -2.058052, 2.237947, 0.384163], [1.304165, -1.458385, 2.040293, -2.056541, 2.246351, 0.330093], [1.376331, -1.441074, 2.043373, -2.058515, 2.253225, 0.320956], [1.391299, -1.387486, 1.99719, -2.060454, 2.254904, 0.256565], [1.393394, -1.342271, 1.939256, -2.063176, 2.259182, 0.22744], [1.399061, -1.29082, 1.877014, -2.063176, 2.262624, 0.205789], [1.400477, -1.263902, 1.849446, -2.063192, 2.263639, 0.200002], [1.400513, -1.257956, 1.839391, -2.063207, 2.264152, 0.193534], [1.40189, -1.235256, 1.814959, -2.0632, 2.264155, 0.193286], [1.404152, -1.232897, 1.809316, -2.063207, 2.26402, 0.18642], [1.406591, -1.23227, 1.805573, -2.063223, 2.272246, 0.146435], [1.411814, -1.237004, 1.822346, -2.065224, 2.270867, 0.150475], [1.413353, -1.318762, 1.923915, -2.071543, 2.267297, 0.167726], [1.41286, -1.398371, 2.009513, -2.078119, 2.267237, 0.168447], [1.412835, -1.487828, 2.097644, -2.07855, 2.267225, 0.167291], [1.415282, -1.563546, 2.164998, -2.077449, 2.266746, 0.165832], [1.418808, -1.65996, 2.24713, -2.078556, 2.265706, 0.160888], [1.425487, -1.689784, 2.261533, -2.078152, 2.264679, 0.157008], [1.428115, -1.709747, 2.27721, -2.07847, 2.26312, 0.149132], [1.426754, -1.762211, 2.321996, -2.077764, 2.262624, 0.144227], [1.42472, -1.785, 2.344231, -2.078481, 2.262624, 0.144203], [1.411687, -1.769858, 2.315267, -2.079079, 2.26115, 0.145713], [1.404746, -1.759222, 2.300873, -2.078852, 2.261089, 0.146073], [1.404551, -1.683479, 2.246313, -2.113126, 2.261132, 0.154845], [1.40511, -1.615873, 2.180724, -2.116837, 2.26208, 0.15493], [1.399456, -1.546429, 2.118621, -2.124055, 2.262616, 0.156279], [1.395988, -1.458283, 2.036667, -2.130502, 2.26262, 0.158776], [1.393311, -1.382135, 1.959607, -2.131885, 2.261661, 0.161906], [1.415364, -1.400809, 1.960675, -2.11571, 2.265514, 0.150138], [1.450163, -1.466758, 1.960837, -2.060212, 2.276163, 0.103703], [1.48169, -1.508185, 1.942098, -2.031601, 2.293666, 0.062287], [1.498116, -1.514928, 1.889221, -2.024509, 2.304024, 0.047639], [1.514041, -1.518942, 1.854117, -2.024956, 2.30689, 0.031091], [1.492783, -1.504005, 1.938024, -2.075651, 2.280287, 0.121721], [1.427977, -1.476654, 1.985536, -2.079757, 2.251056, 0.158634], [1.375134, -1.451137, 2.017535, -2.074815, 2.250871, 0.141395], [1.313116, -1.396178, 2.021199, -2.082582, 2.249829, 0.19729], [1.258719, -1.383673, 2.060661, -2.087582, 2.223704, 0.318588], [1.219978, -1.383226, 2.086689, -2.101377, 2.215094, 0.3943], [1.196117, -1.365596, 2.096462, -2.123703, 2.21207, 0.397304], [1.178206, -1.344082, 2.098475, -2.144376, 2.208964, 0.416775], [1.173232, -1.342309, 2.09778, -2.144905, 2.207005, 0.418749], [1.207967, -1.37539, 2.086156, -2.132582, 2.206543, 0.388334], [1.332668, -1.425662, 2.057137, -2.102878, 2.233093, 0.272765], [1.391231, -1.413935, 2.068116, -2.105607, 2.257474, 0.258261], [1.385329, -1.418084, 2.067324, -2.114857, 2.219211, 0.263607], [1.382374, -1.420451, 2.070837, -2.116854, 2.099749, 0.26966], [1.367901, -1.418952, 2.073887, -2.11657, 2.063475, 0.277302], [1.363819, -1.4185, 2.072416, -2.116878, 2.025551, 0.278659], [1.354953, -1.416817, 2.086736, -2.112147, 2.077488, 0.305183], [1.334849, -1.417413, 2.100459, -2.104522, 2.168659, 0.354002], [1.329324, -1.42353, 2.100188, -2.063625, 2.353932, 0.43126], [1.326947, -1.427028, 2.099869, -2.055432, 2.392519, 0.434082], [1.320475, -1.426616, 2.100738, -2.06053, 2.315479, 0.440211], [1.319983, -1.42906, 2.098452, -2.064224, 2.237906, 0.437361], [1.311065, -1.428614, 2.095937, -2.07481, 2.16501, 0.434158], [1.317078, -1.437058, 2.101163, -2.086344, 2.165727, 0.351494], [1.364307, -1.459142, 2.093742, -2.09134, 2.247511, 0.27212], [1.367067, -1.45993, 2.099881, -2.169403, 2.287299, 0.257993], [1.350893, -1.460365, 2.105325, -2.208661, 2.293611, 0.250545], [1.345228, -1.467027, 2.119036, -2.256782, 2.300375, 0.184665], [1.344317, -1.474419, 2.130545, -2.275186, 2.299992, 0.180913], [1.36031, -1.473774, 2.133727, -2.21541, 2.287534, 0.201045], [1.368055, -1.493354, 2.133762, -2.052598, 2.273712, 0.280624], [1.364138, -1.517396, 2.135844, -1.905885, 2.236641, 0.367575], [1.367374, -1.523774, 2.151184, -1.875513, 2.22866, 0.372757], [1.373312, -1.5307, 2.158928, -1.833429, 2.212906, 0.372747], [1.377114, -1.532475, 2.161098, -1.802965, 2.197437, 0.372779], [1.377095, -1.538602, 2.164432, -1.812654, 2.190644, 0.417085], [1.365274, -1.541644, 2.174407, -1.942148, 2.203328, 0.412091], [1.357472, -1.561978, 2.174031, -2.025629, 2.212968, 0.262148], [1.361582, -1.561664, 2.170182, -2.117704, 2.236329, 0.248081], [1.389683, -1.560603, 2.174166, -2.132654, 2.236279, 0.246756], [1.401994, -1.58852, 2.16733, -2.085052, 2.239553, 0.230041], [1.446854, -1.622104, 2.163663, -2.084893, 2.247161, 0.161914], [1.465203, -1.634906, 2.1481, -2.081072, 2.288203, 0.109771], [1.474712, -1.645917, 2.120701, -2.081445, 2.308534, 0.062778], [1.480239, -1.654624, 2.131788, -2.088004, 2.309859, 0.064009], [1.431783, -1.576178, 2.135297, -2.128478, 2.300264, 0.122053], [1.380012, -1.438152, 2.04877, -2.132045, 2.297515, 0.130924], [1.338869, -1.376429, 2.030875, -2.133416, 2.28477, 0.201721], [1.30119, -1.353956, 2.031426, -2.13254, 2.275192, 0.26811]]
+hand_camera = true
+arm_name = "right"
+
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/camera_intrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/camera_intrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc8776bd0b89b05bfd6939d6b74b894b90c6f23e
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur01/camera_calibration/camera_intrinsics.json
@@ -0,0 +1,161 @@
+{
+    "front": {
+        "cameraMatrix": [
+            [
+                693.030517578125,
+                0,
+                644.9820556640625
+            ],
+            [
+                0,
+                693.2359619140625,
+                362.6943054199219
+            ],
+            [
+                0,
+                0,
+                1
+            ]
+        ],
+        "distCoeffs": [
+            0.0059042200446128845,
+            -0.04444240406155586,
+            -0.0001462289656046778,
+            -7.301278674276546e-05,
+            0.030004799365997314
+
+        ]
+    },
+    "left": {
+        "cameraMatrix": [
+            [
+                366.1848449707031,
+                0.0,
+                321.49078369140625
+            ],
+            [
+                0,
+                366.22662353515625,
+                235.1184539794922
+            ],
+            [
+                0,
+                0,
+                1
+            ]
+        ],
+        "distCoeffs": [
+            -0.032993871718645096,
+            0.03739718347787857,
+            0.00034544224035926163,
+            -0.00014205119805410504,
+            -0.013019759207963943
+        ]
+    },
+    "right": {
+        "cameraMatrix": [
+            [
+                366.7298278808594,
+                0,
+                320.77886962890625
+            ],
+            [
+                0,
+                366.794189453125,
+                231.7418975830078
+            ],
+            [
+                0,
+                0,
+                1
+            ]
+        ],
+        "distCoeffs": [
+            -0.032825883477926254,
+            0.03658643364906311,
+            -0.00022761990840081125,
+            2.5893357815220952e-05,
+            -0.012598290108144283
+
+        ]
+    },
+    "top": {
+        "cameraMatrix": [
+            [
+                695.5634765625,
+                0,
+                642.3822631835938
+            ],
+            [
+                0,
+                695.807373046875,
+                359.6387634277344
+            ],
+            [
+                0,
+                0,
+                1
+            ]
+        ],
+        "distCoeffs": [
+            0.008696570061147213,
+            -0.0566357858479023,
+            -0.0003469416406005621,
+            7.728634955128655e-05,
+            0.03763516992330551   
+        ]
+    },
+    "wrist_left": {
+        "cameraMatrix": [
+            [
+                462.7032470703125,
+                0,
+                318.3021545410156
+            ],
+            [
+                0,
+                462.6568908691406,
+                241.7897491455078
+            ],
+            [
+                0,
+                0,
+                1
+            ]
+        ],
+        "distCoeffs": [
+            0.008997918106615543,
+            -0.05678577721118927,
+            0.0004645894805435091,
+            -0.0011152751976624131,
+            0.03785017132759094
+
+        ]
+    },
+    "wrist_right": {
+        "cameraMatrix": [
+            [
+                460.3302917480469,
+                0,
+                321.5438537597656
+            ],
+            [
+                0,
+                460.2252502441406,
+                236.63864135742188
+            ],
+            [
+                0,
+                0,
+                1
+            ]
+        ],
+        "distCoeffs": [
+            0.007019018288701773,
+            -0.047220099717378616,
+            -0.0007637543021701276,
+            0.0008095594821497798,
+            0.032113444060087204
+        ]
+    }
+}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_left_camera_front_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_left_camera_front_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..332b02f3f89675e2031825a5c479f91fbdea68f1
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_left_camera_front_extrinsics.json
@@ -0,0 +1 @@
+{"front": {"cameraMatrix": [[694.6729736328125, 0.0, 639.8118286132812], [0.0, 694.3659057617188, 367.84210205078125], [0.0, 0.0, 1.0]], "distCoeffs": [0.050275505811793714, -0.23511101049859934, -0.0006161484403667172, -6.33554012897346e-05, 0.29433562477289565], "pose": [-0.3510564811003176, -0.8739370199175425, 0.8215669771428744, -2.6160523373195983, -0.05104076896810983, -0.022911395750530097], "serial": "[]", "timestamp": 1755076199.1721592}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_left_camera_left_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_left_camera_left_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..23500b2cb180d91f752971a2457cc70fe785a0da
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_left_camera_left_extrinsics.json
@@ -0,0 +1 @@
+{"left": {"cameraMatrix": [[366.35321044921875, 0.0, 321.9775390625], [0.0, 366.4595031738281, 233.02699279785156], [0.0, 0.0, 1.0]], "distCoeffs": [-0.02380991758064719, 0.029255691221543787, 0.0010031758625844794, -0.00040146562310137014, -0.017563863748217855], "pose": [0.7330621210770213, -0.45622497014396246, 1.0151210312334067, -2.6851226599434046, -0.044791770607044645, 1.572320831306258], "serial": "[]", "timestamp": 1755078773.3965402}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_left_camera_top_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_left_camera_top_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d3673810640bc9aa41ac7b851d97fa46ea9a777
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_left_camera_top_extrinsics.json
@@ -0,0 +1 @@
+{"top": {"cameraMatrix": [[691.591796875, 0.0, 643.4002685546875], [0.0, 691.3712768554688, 359.02642822265625], [0.0, 0.0, 1.0]], "distCoeffs": [-0.00029450493160795984, 0.026385010994731988, 0.0010688506802796003, 0.00024268913401473573, -0.0830166236428725], "pose": [-0.39529493395062176, -0.17546356684439693, 0.7789331861837502, -2.713596377759312, 0.04840747697756709, 3.1051380177991548], "serial": "[]", "timestamp": 1755076944.685771}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_left_camera_wrist_left_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_left_camera_wrist_left_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..356cdcfd2e858dfc65171fcac9df30f0d9759ca8
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_left_camera_wrist_left_extrinsics.json
@@ -0,0 +1 @@
+{"wrist_left": {"cameraMatrix": [[461.4210205078125, 0.0, 320.7372131347656], [0.0, 461.3998107910156, 245.11973571777344], [0.0, 0.0, 1.0]], "distCoeffs": [0.044184969477011685, -0.3180661759254866, -0.0007440755519005097, 0.00020413801983466486, 0.5606613315663426], "pose": [0.007881848294310297, -0.06861858629154982, -0.00022725772187256544, -0.11063361411174219, -0.0036809673627040684, 0.019393747157984666], "serial": "[]", "timestamp": 1755080405.7916636}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_right_camera_front_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_right_camera_front_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bab6e40c6a1e2919b43cee44ad9c50e547982f5
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_right_camera_front_extrinsics.json
@@ -0,0 +1 @@
+{"front": {"cameraMatrix": [[694.6729736328125, 0.0, 639.8118286132812], [0.0, 694.3659057617188, 367.84210205078125], [0.0, 0.0, 1.0]], "distCoeffs": [0.017710093669954918, -0.06063494001188236, -0.0006889647587511929, -0.0012149887721939288, 0.02916841139644021], "pose": [0.38821014272128185, -0.8506634623001945, 0.8198403369378957, -2.6339387856082506, -0.046244152226264434, -0.014135951597744941], "serial": "[]", "timestamp": 1755237321.871344}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_right_camera_right_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_right_camera_right_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d3c01ce286bf63d5b3152b99413f6e13e5057d6
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_right_camera_right_extrinsics.json
@@ -0,0 +1 @@
+{"right": {"cameraMatrix": [[367.0315856933594, 0.0, 317.16583251953125], [0.0, 366.9881286621094, 236.08998107910156], [0.0, 0.0, 1.0]], "distCoeffs": [-0.034188436640583734, 0.12186174727582468, 0.0006474902457110506, 0.0007487383591168953, -0.15877382603832227], "pose": [-0.7269877356616938, -0.44123193235102653, 1.0123956943800738, -2.646984363487926, 0.01684187550702898, -1.5459780665835596], "serial": "[]", "timestamp": 1755079292.7687683}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_right_camera_top_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_right_camera_top_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..374a4157dff4f0990069640d95c1c14af6686535
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_right_camera_top_extrinsics.json
@@ -0,0 +1 @@
+{"top": {"cameraMatrix": [[691.591796875, 0.0, 643.4002685546875], [0.0, 691.3712768554688, 359.02642822265625], [0.0, 0.0, 1.0]], "distCoeffs": [-0.012427253840280938, 0.0161940293740474, -0.002056628348262611, 0.003846574184752478, -0.05483034833257317], "pose": [0.31966907967274016, -0.17136581102467763, 0.7726675302832088, -2.7011636126209346, 0.010049196583294506, 3.1124808946169606], "serial": "[]", "timestamp": 1755160976.144331}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_right_camera_wrist_right_extrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_right_camera_wrist_right_extrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4318464d66bb6931a9488f8d89557b96e1b153d
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/arm_right_camera_wrist_right_extrinsics.json
@@ -0,0 +1 @@
+{"wrist_right": {"cameraMatrix": [[463.7059020996094, 0.0, 320.4197082519531], [0.0, 463.77239990234375, 239.98492431640625], [0.0, 0.0, 1.0]], "distCoeffs": [0.006611111480630391, -0.062047521840636825, -0.002002152185691552, -0.0008398413987473996, 0.20605699230110536], "pose": [-0.012568449895652322, -0.07181379498472705, 0.03338848689108592, -0.14613277511863043, -0.004148401058261086, 0.003908727274273971], "serial": "[]", "timestamp": 1755080015.1889162}}
\ No newline at end of file
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/camera_calibrator_configuration.toml b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/camera_calibrator_configuration.toml
new file mode 100644
index 0000000000000000000000000000000000000000..77bab59ada5667dbe9917c48721cf0e093c2d1fc
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/camera_calibrator_configuration.toml
@@ -0,0 +1,40 @@
+# ~/.config/xhumanoid/xrocs/default.toml
+
+[board]
+
+[board.charuco]
+CHARUCOBOARD_ROWCOUNT = 9
+CHARUCOBOARD_COLCOUNT = 14
+CHARUCOBOARD_CHECKER_SIZE = 0.020
+CHARUCOBOARD_MARKER_SIZE = 0.015
+
+[camera]
+[camera.left]
+joints = [[-0.58445, -1.362282, -1.217991, -1.251636, 2.030956, 1.254899], [-0.584465, -1.365318, -1.2195, -1.252478, 2.03095, 1.25478], [-0.58443, -1.365826, -1.219535, -1.24971, 2.030961, 1.254756], [-0.58443, -1.36559, -1.219519, -1.24787, 2.030969, 1.254411], [-0.585755, -1.372343, -1.219264, -1.247506, 2.029958, 1.229693], [-0.597883, -1.43894, -1.161487, -1.245961, 2.028854, 1.22518], [-0.708745, -1.553075, -1.056651, -1.257111, 2.111577, 1.184575], [-0.728738, -1.576809, -1.035493, -1.257853, 2.131684, 1.174188], [-0.75271, -1.619594, -0.993844, -1.258315, 2.165705, 1.153806], [-0.783706, -1.63839, -0.97767, -1.259395, 2.188871, 1.137346], [-0.806731, -1.66249, -0.960082, -1.259004, 2.208987, 1.129115], [-0.820412, -1.697546, -0.925168, -1.253377, 2.218084, 1.128551], [-0.845363, -1.725581, -0.90115, -1.253312, 2.236307, 1.117573], [-0.860414, -1.738344, -0.894228, -1.250853, 2.254083, 1.102114], [-0.886016, -1.772535, -0.862472, -1.249509, 2.271913, 1.095455], [-0.921051, -1.811181, -0.819147, -1.251164, 2.296777, 1.073538], [-0.941321, -1.857565, -0.764889, -1.259519, 2.308854, 1.074661], [-0.956819, -1.873455, -0.761, -1.252306, 2.311674, 1.070945], [-0.967386, -1.907771, -0.719673, -1.249516, 2.315986, 1.052878], [-0.983556, -1.954306, -0.65859, -1.260902, 2.382106, 1.049673], [-0.986324, -1.960859, -0.657555, -1.261318, 2.409731, 1.049237], [-0.980026, -1.972644, -0.655204, -1.260964, 2.409548, 1.052181], [-0.973287, -1.97333, -0.652285, -1.260931, 2.409373, 1.058661], [-0.946211, -1.97268, -0.650445, -1.259455, 2.405547, 1.067384], [-0.942106, -1.972708, -0.650418, -1.258348, 2.403913, 1.069153], [-0.918173, -1.973936, -0.636078, -1.252281, 2.394598, 1.087583], [-0.909759, -1.979427, -0.630531, -1.251741, 2.390395, 1.096634], [-0.90717, -1.978844, -0.629474, -1.250237, 2.388468, 1.109918], [-0.860214, -1.99782, -0.604497, -1.245658, 2.341501, 1.140971], [-0.857499, -2.019852, -0.569125, -1.245594, 2.337821, 1.145556], [-0.856919, -2.025943, -0.566243, -1.213513, 2.334106, 1.153024], [-0.854652, -2.036571, -0.566055, -1.174432, 2.328603, 1.168797], [-0.852812, -2.038318, -0.566067, -1.165618, 2.328602, 1.168912], [-0.830639, -2.051211, -0.547552, -1.143403, 2.3001, 1.190398], [-0.827771, -2.050937, -0.544613, -1.14281, 2.299429, 1.191897], [-0.819666, -2.049647, -0.542633, -1.142813, 2.299301, 1.198071], [-0.826251, -2.02777, -0.547523, -1.149032, 2.308161, 1.202625], [-0.834723, -2.007444, -0.563304, -1.171801, 2.317645, 1.200744], [-0.836513, -2.000684, -0.567492, -1.19927, 2.31825, 1.198089], [-0.837532, -1.983978, -0.571157, -1.246966, 2.319349, 1.193566], [-0.837552, -1.981393, -0.572019, -1.257491, 2.319394, 1.192408], [-0.837344, -1.952319, -0.597734, -1.295455, 2.319348, 1.183203], [-0.83016, -1.874484, -0.713753, -1.285659, 2.320886, 1.166035], [-0.826735, -1.87153, -0.720822, -1.289973, 2.320905, 1.165828], [-0.821438, -1.842437, -0.768923, -1.295153, 2.321016, 1.163231], [-0.820689, -1.836282, -0.780729, -1.287071, 2.318742, 1.143608], [-0.820693, -1.828338, -0.78233, -1.302835, 2.319363, 1.14295], [-0.820289, -1.791314, -0.782341, -1.337775, 2.318294, 1.151409], [-0.819167, -1.788825, -0.782334, -1.335411, 2.316372, 1.114539], [-0.789833, -1.779097, -0.786841, -1.36628, 2.293697, 1.113205], [-0.764003, -1.761126, -0.786945, -1.399127, 2.265617, 1.11366], [-0.763385, -1.752144, -0.786952, -1.409295, 2.257761, 1.113298], [-0.757295, -1.742657, -0.787396, -1.382213, 2.193241, 1.112584], [-0.753824, -1.742054, -0.788454, -1.382099, 2.179688, 1.112148], [-0.739264, -1.736946, -0.790602, -1.400947, 2.177061, 1.113504], [-0.703524, -1.715539, -0.807706, -1.440463, 2.168165, 1.113194], [-0.694139, -1.659113, -0.90652, -1.390866, 2.157247, 1.116108], [-0.689929, -1.65823, -0.908082, -1.381881, 2.15578, 1.123782], [-0.677841, -1.649883, -0.911098, -1.378596, 2.138176, 1.128145], [-0.656321, -1.609078, -0.977277, -1.357467, 2.134652, 1.148312], [-0.650472, -1.603266, -0.98475, -1.351486, 2.123605, 1.151552], [-0.647885, -1.586424, -1.000427, -1.339195, 2.106092, 1.194496], [-0.599905, -1.556918, -1.041418, -1.322515, 2.041705, 1.235918], [-0.579891, -1.527017, -1.120089, -1.242235, 2.02508, 1.261425], [-0.579863, -1.519395, -1.125513, -1.239311, 2.024846, 1.275005], [-0.577286, -1.509067, -1.129066, -1.240831, 2.024868, 1.283143], [-0.488155, -1.512737, -1.133537, -1.224075, 1.963073, 1.329539], [-0.488141, -1.526278, -1.126753, -1.207316, 1.930979, 1.367888], [-0.490348, -1.54322, -1.113385, -1.207248, 1.927541, 1.468065], [-0.492381, -1.540177, -1.112182, -1.206036, 1.927068, 1.47872], [-0.493907, -1.559056, -1.095622, -1.169926, 1.921359, 1.536741], [-0.495788, -1.638255, -0.977212, -1.186593, 1.917747, 1.597687], [-0.496999, -1.633821, -0.973615, -1.204439, 1.919363, 1.598786], [-0.497031, -1.630305, -0.970036, -1.210428, 1.919013, 1.67699], [-0.498516, -1.630505, -0.96064, -1.214711, 1.920355, 1.683185], [-0.501035, -1.635366, -0.953217, -1.216219, 1.920226, 1.760313], [-0.503165, -1.641375, -0.948351, -1.214928, 1.919035, 1.768803], [-0.551436, -1.661682, -0.948139, -1.203202, 1.930861, 1.739243], [-0.56721, -1.662895, -0.948008, -1.202648, 1.935851, 1.732945], [-0.598404, -1.669681, -0.948536, -1.202624, 1.935873, 1.7135], [-0.622257, -1.682443, -0.947005, -1.201206, 1.938232, 1.702049], [-0.631337, -1.714777, -0.906392, -1.203525, 1.938697, 1.68228], [-0.662126, -1.748149, -0.870521, -1.206458, 1.982896, 1.688743], [-0.668076, -1.752526, -0.870703, -1.206758, 1.985783, 1.682238], [-0.712971, -1.779053, -0.869315, -1.202205, 2.007422, 1.664901], [-0.718647, -1.780737, -0.867677, -1.201131, 2.006891, 1.552633], [-0.72923, -1.80687, -0.827894, -1.20262, 2.004037, 1.435513], [-0.731672, -1.823327, -0.804941, -1.206878, 2.004912, 1.432733], [-0.736691, -1.828943, -0.803283, -1.20244, 1.998493, 1.382748], [-0.762471, -1.836738, -0.800759, -1.200697, 2.002166, 1.315958], [-0.763923, -1.837685, -0.799235, -1.185941, 2.000531, 1.295233], [-0.763926, -1.840738, -0.800153, -1.181011, 1.996467, 1.22372], [-0.763911, -1.848009, -0.800313, -1.17068, 1.996075, 1.189136], [-0.763911, -1.851741, -0.793747, -1.172595, 2.002913, 1.174782], [-0.763911, -1.8493, -0.784074, -1.228545, 2.022416, 1.117637], [-0.76252, -1.839409, -0.783875, -1.296412, 2.074571, 1.072565], [-0.762377, -1.836248, -0.785975, -1.298262, 2.075498, 1.072249], [-0.760851, -1.814023, -0.797267, -1.370815, 2.067223, 1.068883], [-0.755067, -1.798003, -0.798137, -1.395838, 2.066967, 0.991427], [-0.754228, -1.785996, -0.804356, -1.395998, 2.070577, 0.951345]]
+hand_camera = false
+arm_name = "left"
+
+[camera.right]
+joints = [[0.647347, -1.718666, 1.34129, -2.19969, -2.044544, -1.311819], [0.647351, -1.712813, 1.338747, -2.201191, -2.043454, -1.311888], [0.645923, -1.717149, 1.333177, -2.201345, -2.042915, -1.313036], [0.645807, -1.719885, 1.320276, -2.201819, -2.043914, -1.313068], [0.645819, -1.715907, 1.318422, -2.200346, -2.044266, -1.313072], [0.646345, -1.689563, 1.317637, -2.262643, -2.044477, -1.310194], [0.646485, -1.653172, 1.293943, -2.28174, -2.044883, -1.307663], [0.647283, -1.645012, 1.293138, -2.27894, -2.068575, -1.306908], [0.648784, -1.619005, 1.291892, -2.337898, -2.064044, -1.236661], [0.653743, -1.601416, 1.273576, -2.327608, -2.059465, -1.2003], [0.710383, -1.535745, 1.181673, -2.272468, -2.057444, -1.192702], [0.724944, -1.517585, 1.178174, -2.27318, -2.057073, -1.131379], [0.767824, -1.48348, 1.156811, -2.282643, -2.056058, -1.091782], [0.787304, -1.416614, 1.063956, -2.268914, -2.054005, -1.10126], [0.789001, -1.41525, 1.062449, -2.267239, -2.055003, -1.099637], [0.812419, -1.408063, 1.064758, -2.267706, -2.055947, -1.095481], [0.80976, -1.382582, 1.070429, -2.267219, -2.068554, -1.106069], [0.803343, -1.364405, 1.0538, -2.275453, -2.070703, -1.117786], [0.785896, -1.340727, 1.030437, -2.28137, -2.07648, -1.139111], [0.763581, -1.337673, 1.029332, -2.282566, -2.078532, -1.151924], [0.72257, -1.346659, 1.03143, -2.281546, -2.078539, -1.173533], [0.720284, -1.362547, 1.03234, -2.273114, -2.077009, -1.180076], [0.690694, -1.387471, 1.04118, -2.266384, -2.077224, -1.222445], [0.679977, -1.395846, 1.047626, -2.265013, -2.077, -1.229082], [0.649579, -1.406866, 1.049221, -2.246047, -2.075522, -1.247278], [0.639753, -1.4199, 1.049209, -2.233665, -2.075466, -1.248643], [0.639654, -1.428326, 1.050332, -2.215586, -2.075818, -1.248286], [0.639913, -1.44506, 1.053652, -2.175213, -2.075542, -1.247222], [0.64192, -1.456857, 1.07692, -2.170584, -2.075939, -1.239745], [0.643156, -1.457262, 1.077009, -2.170606, -2.073974, -1.240483], [0.648599, -1.46093, 1.069358, -2.170085, -2.073514, -1.240224], [0.641832, -1.502207, 1.086982, -2.153105, -2.076641, -1.24544], [0.639674, -1.506234, 1.087612, -2.149108, -2.077028, -1.24557], [0.606952, -1.523839, 1.088861, -2.102019, -2.082939, -1.24561], [0.590673, -1.536993, 1.088553, -2.083944, -2.081594, -1.247518], [0.590616, -1.541323, 1.08891, -2.081782, -2.080259, -1.248643], [0.589962, -1.551399, 1.090478, -2.06928, -2.076841, -1.249725], [0.599196, -1.588621, 1.088547, -2.023938, -2.070941, -1.245892], [0.604035, -1.590213, 1.092623, -2.02177, -2.068338, -1.235071], [0.606961, -1.61908, 1.13945, -2.020617, -1.997887, -1.351913], [0.607875, -1.622262, 1.139821, -2.012604, -1.985175, -1.373677], [0.609523, -1.618454, 1.137778, -2.013485, -1.982815, -1.367578], [0.640791, -1.612351, 1.136929, -2.012304, -1.960651, -1.375646], [0.642689, -1.61221, 1.138209, -2.01107, -1.958938, -1.377745], [0.661464, -1.603989, 1.137723, -2.011024, -1.924786, -1.435141], [0.682383, -1.600155, 1.138179, -2.008029, -1.908318, -1.456077], [0.685156, -1.595203, 1.137966, -2.00579, -1.908814, -1.46915], [0.712702, -1.578582, 1.135261, -2.007949, -1.908397, -1.52005], [0.713293, -1.577428, 1.136535, -2.00695, -1.909634, -1.52725], [0.713312, -1.551703, 1.131109, -2.049198, -1.913335, -1.589719], [0.713312, -1.546307, 1.130577, -2.06315, -1.914366, -1.602672], [0.713281, -1.535786, 1.104501, -2.064586, -1.91523, -1.601086], [0.713278, -1.49832, 1.040761, -2.064219, -1.921823, -1.597248], [0.713285, -1.49733, 1.040032, -2.063517, -1.922094, -1.607411], [0.71283, -1.492633, 1.017528, -2.066241, -1.917794, -1.677354], [0.711909, -1.482445, 0.996082, -2.066295, -1.917472, -1.7018], [0.7108, -1.479939, 0.992903, -2.066269, -1.917829, -1.711084], [0.707424, -1.458163, 0.96287, -2.066272, -1.91405, -1.780594], [0.706692, -1.457269, 0.961038, -2.066254, -1.914377, -1.782456], [0.695506, -1.455754, 0.959771, -2.068087, -1.912034, -1.824165], [0.68161, -1.455703, 0.958565, -2.092497, -1.909875, -1.862821], [0.677415, -1.452367, 0.959903, -2.09427, -1.911329, -1.856874], [0.652523, -1.42411, 0.958792, -2.121125, -1.909824, -1.856112], [0.651964, -1.423541, 0.95745, -2.121794, -1.9101, -1.85128], [0.649243, -1.445416, 0.953771, -2.121674, -1.918931, -1.793579], [0.648883, -1.461375, 0.955596, -2.122856, -1.923373, -1.746451], [0.648863, -1.46334, 0.960694, -2.120478, -1.925127, -1.728628], [0.64818, -1.490449, 0.977662, -2.110422, -1.92463, -1.619037], [0.647589, -1.504112, 0.984749, -2.119506, -1.925139, -1.584396], [0.647785, -1.504247, 0.984824, -2.121307, -1.92618, -1.576445], [0.647342, -1.54251, 1.018236, -2.109991, -1.953069, -1.489861], [0.647335, -1.552058, 1.027698, -2.107757, -1.961917, -1.478807], [0.647335, -1.55233, 1.028802, -2.107009, -1.9633, -1.467774], [0.647354, -1.598075, 1.093881, -2.110935, -1.977391, -1.380841], [0.64732, -1.60708, 1.107478, -2.11531, -1.980367, -1.377086], [0.647347, -1.608783, 1.108053, -2.109593, -1.981414, -1.364857], [0.647332, -1.65914, 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+hand_camera = true
+arm_name = "left"
+
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+hand_camera = true
+arm_name = "right"
+
diff --git a/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/camera_intrinsics.json b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/camera_intrinsics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dcc62a1ed7b11038b52610d5a9dc9872f910f9e
--- /dev/null
+++ b/camera_extrinsics_intrinsics/ur/camera_calibration_ur03/camera_calibration/camera_intrinsics.json
@@ -0,0 +1,158 @@
+{
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+            6.143902282929048e-05,
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+    }
+}
\ No newline at end of file
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