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@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+20260909_131659/right/dcam_depth.mkv filter=lfs diff=lfs merge=lfs -text

20260909_131659/right/angle_data.json

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20260909_131659/right/dcam_calib.json

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20260909_131659/right/dcam_calib_offline.json

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20260909_131659/right/dcam_right.mp4

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20260909_131659/right/dcam_right_timestamps.json

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20260909_131659/right/frame_timestamps.json

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20260909_131659/right/frames.json

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+{
+  "urdf_source": "grabette_right/robot.urdf",
+  "parent_link": "grip_r",
+  "frames_in_grip_r": {
+    "camera": [
+      [
+        1.0,
+        0.0,
+        -0.0,
+        -0.0408486
+      ],
+      [
+        0.0,
+        -0.34201809743194533,
+        0.939693365427804,
+        -0.0255417
+      ],
+      [
+        -0.0,
+        -0.939693365427804,
+        -0.34201809743194533,
+        0.0701847
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "oak_l": [
+      [
+        1.0,
+        0.0,
+        -0.0,
+        -0.0373486
+      ],
+      [
+        0.0,
+        -3.673205103346574e-06,
+        0.9999999999932537,
+        -0.025667
+      ],
+      [
+        -0.0,
+        -0.9999999999932537,
+        -3.673205103346574e-06,
+        0.0298246
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "oak_r": [
+      [
+        1.0,
+        0.0,
+        -0.0,
+        -0.0173486
+      ],
+      [
+        0.0,
+        -3.673205103346574e-06,
+        0.9999999999932537,
+        -0.025667
+      ],
+      [
+        -0.0,
+        -0.9999999999932537,
+        -3.673205103346574e-06,
+        0.0298246
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "gripper_center": [
+      [
+        -3.673205103346574e-06,
+        -0.9999999999932537,
+        0.0,
+        -0.0373485
+      ],
+      [
+        0.9999999999932537,
+        -3.673205103346574e-06,
+        0.0,
+        0.0335873
+      ],
+      [
+        0.0,
+        0.0,
+        1.0,
+        -0.0232
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ],
+    "thumb_tip": [
+      [
+        0.6971025837445746,
+        -2.6335830036882566e-06,
+        0.7169713995200245,
+        -0.0910992
+      ],
+      [
+        -0.7169713995248614,
+        -2.5606007681666537e-06,
+        0.6971025837398718,
+        0.0551614
+      ],
+      [
+        0.0,
+        -0.9999999999932537,
+        -3.673205103346574e-06,
+        -0.0232
+      ],
+      [
+        0.0,
+        0.0,
+        0.0,
+        1.0
+      ]
+    ]
+  },
+  "T_camera_in_oak_l": [
+    [
+      1.0,
+      0.0,
+      0.0,
+      -0.003499999999999996
+    ],
+    [
+      0.0,
+      0.9396946217240855,
+      0.34201464574317253,
+      -0.04036010045998032
+    ],
+    [
+      0.0,
+      -0.34201464574317253,
+      0.9396946217240856,
+      0.00012515174907385893
+    ],
+    [
+      0.0,
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "note": "4x4 row-major homogeneous transforms, meters + radians. frames_in_grip_r[X] = T_X_in_grip_r (pose of frame X in the grip_r link frame). T_camera_in_oak_l = inv(T_oak_l_in_grip_r) @ T_camera_in_grip_r \u2014 provided as a convenience so SLAM poses (produced in the oak_l frame) can be re-expressed in the primary RPi camera frame without URDF parsing."
+}

20260909_131659/right/metadata.json

@@ -0,0 +1,31 @@
+{
+  "duration_seconds": 5.16,
+  "frame_count": 254,
+  "imu_sample_count": 3063,
+  "angle_sample_count": 498,
+  "fps": 49.692,
+  "backend": "rpi",
+  "hand": "right",
+  "angle_convention": "positive_closing",
+  "device_id": "grabette-f53228b6",
+  "urdf": "grabette_right",
+  "dcam": {
+    "left_frames": 154,
+    "right_frames": 154,
+    "depth_frames": 155,
+    "imu_samples": 3063
+  },
+  "depth_camera": {
+    "model": "oakd",
+    "name": "OAK-D-SR",
+    "serial": "19443010E1C4782700",
+    "link": "UsbSpeed.SUPER",
+    "imu": "BNO086"
+  },
+  "sync": {
+    "scheduled_start_utc": "2026-09-09T13:16:59.043678+00:00",
+    "capture_started_utc": "2026-09-09T13:16:59.080740+00:00",
+    "wake_skew_ms": 1.5,
+    "start_capture_ms": 35.6
+  }
+}

20260909_131659/right/raw_video.mp4

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c4d287456b3d3b73407342b838740343651e4088319fec2fa14a400d09c904f9
+size 5310278

20260909_131659/right/rpi_camera_intrinsics.json

@@ -0,0 +1,35 @@
+{
+  "image_width": 1296,
+  "image_height": 972,
+  "intrinsic_type": "FISHEYE",
+  "intrinsics": {
+    "aspect_ratio": 0.9974064140442742,
+    "focal_length": 512.336215632677,
+    "principal_pt_x": 639.4547113545062,
+    "principal_pt_y": 495.85762143010663,
+    "radial_distortion_1": -0.0036315938261216887,
+    "radial_distortion_2": -0.006340515410813272,
+    "radial_distortion_3": -0.005022585622138357,
+    "radial_distortion_4": 0.002255799946569448,
+    "skew": 0.0
+  },
+  "fps": 49.62,
+  "calibration_source": "OpenICC (full spline optimization)",
+  "camera_reproj_error": 0.31874753391544464,
+  "imu_camera_reproj_error": 7.244266583888487,
+  "nr_calib_images": 29,
+  "t_i_c": {
+    "x": -0.00011395952305253986,
+    "y": -0.005276075233591049,
+    "z": -0.006171107108430983
+  },
+  "q_i_c": {
+    "w": -0.528343102376054,
+    "x": -0.8414094982035182,
+    "y": -0.09443487530222187,
+    "z": 0.06297362012147899
+  },
+  "time_offset_imu_to_cam": -0.17615498950452477,
+  "gyro_bias": [0.00015996975557990202, 0.0009524907263527097, -0.0020606042040575644],
+  "_note": "Final calibration from OpenICC spline optimization. Euler angles XYZ: (116deg, 12deg, 5deg)"
+}