diff --git a/data/toy/calibration/T_gel_to_rigid_left.json b/data/toy/calibration/T_gel_to_rigid_left.json
new file mode 100644
index 0000000000000000000000000000000000000000..1841cac1133234442ca99335532512a32e25b04f
--- /dev/null
+++ b/data/toy/calibration/T_gel_to_rigid_left.json
@@ -0,0 +1,167 @@
+{
+ "method": "dual_ball_multi_pose",
+ "refball_center_in_rigid_mm": [
+  -33.51740422401229,
+  12.100255314675977,
+  -17.699792261606614
+ ],
+ "gelball_center_in_rigid_mm": [
+  -43.47382768891848,
+  -41.22508071829758,
+  -35.7960391945282
+ ],
+ "gel_axis_in_rigid": [
+  -0.17411894520453713,
+  -0.9324875086795467,
+  -0.31646427772731606
+ ],
+ "gel_distance_mm": 57.19086670954521,
+ "depth_offset_mm": -5.0,
+ "gel_center_in_rigid_mm": [
+  -42.603232962895795,
+  -36.56264317489985,
+  -34.21371780589162
+ ],
+ "consistency": {
+  "refball_mean_deviation_mm": 0.4971205477445346,
+  "refball_max_deviation_mm": 0.6830937323295619,
+  "refball_std_mm": [
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+   0.14607220822214068,
+   0.3370989262846435
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+  "gelball_mean_deviation_mm": 0.5311059103030308,
+  "gelball_max_deviation_mm": 0.7146199631539334,
+  "gelball_std_mm": [
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+   0.402760954424785,
+   0.30624407553769517
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+  "axis_max_angle_deg": 1.069223796324866,
+  "ball_distance_std_mm": 0.09592190067940498
+ },
+ "mocap_scale": 1000.0,
+ "raw_data": [
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+    307.12899999999996
+   ],
+   "refball_rigid_mm": [
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+    265.48699999999997
+   ],
+   "gelball_rigid_mm": [
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+   "ball_distance_mm": 57.0659899940411,
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+  },
+  {
+   "pose_id": 1,
+   "rigid_position_mm": [
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+   "rigid_quaternion": [
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+   "refball_rigid_mm": [
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+   "gelball_mocap_mm": [
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+   ],
+   "gelball_rigid_mm": [
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+    -41.44844032643957,
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+   "ball_distance_mm": 57.29919483727493,
+   "axis_in_rigid": [
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+  },
+  {
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+   "rigid_position_mm": [
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+   ],
+   "rigid_quaternion": [
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+    0.187712,
+    0.37411,
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+   ],
+   "refball_mocap_mm": [
+    235.038,
+    31.395,
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+   ],
+   "refball_rigid_mm": [
+    -33.48843686041472,
+    11.898120445498478,
+    -17.562761414721432
+   ],
+   "gelball_mocap_mm": [
+    271.628,
+    16.011,
+    249.575
+   ],
+   "gelball_rigid_mm": [
+    -43.14410783573577,
+    -41.5671711685423,
+    -35.4769729698505
+   ],
+   "ball_distance_mm": 57.2074152973196,
+   "axis_in_rigid": [
+    -0.16878355585789684,
+    -0.9345867373341344,
+    -0.3131449211964034
+   ]
+  }
+ ],
+ "up_axis": "n/a (rigid-body frame)"
+}
\ No newline at end of file
diff --git a/data/toy/calibration/T_gel_to_rigid_right.json b/data/toy/calibration/T_gel_to_rigid_right.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d1dd67c265e1bc0d24caac4eef373db2106c5ff
--- /dev/null
+++ b/data/toy/calibration/T_gel_to_rigid_right.json
@@ -0,0 +1,167 @@
+{
+ "method": "dual_ball_multi_pose",
+ "refball_center_in_rigid_mm": [
+  -17.372443520938578,
+  0.2688573520951536,
+  38.571757518679924
+ ],
+ "gelball_center_in_rigid_mm": [
+  3.1680846750991996,
+  -53.986407194707084,
+  47.297869103141956
+ ],
+ "gel_axis_in_rigid": [
+  0.3501488269090003,
+  -0.9248037787338816,
+  0.148774224426762
+ ],
+ "gel_distance_mm": 58.67110647491247,
+ "depth_offset_mm": 0.0,
+ "gel_center_in_rigid_mm": [
+  3.1680846750991996,
+  -53.986407194707084,
+  47.297869103141956
+ ],
+ "consistency": {
+  "refball_mean_deviation_mm": 0.4043795279250868,
+  "refball_max_deviation_mm": 0.5722584634835464,
+  "refball_std_mm": [
+   0.305325273790818,
+   0.1894397197001601,
+   0.23772566675184065
+  ],
+  "gelball_mean_deviation_mm": 0.7191394130923946,
+  "gelball_max_deviation_mm": 1.044514511519201,
+  "gelball_std_mm": [
+   0.13210638866223554,
+   0.258334234777561,
+   0.7129747489275182
+  ],
+  "axis_max_angle_deg": 1.0670723640750364,
+  "ball_distance_std_mm": 0.1918993038441838
+ },
+ "mocap_scale": 1000.0,
+ "raw_data": [
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+   "rigid_position_mm": [
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+   ],
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+    203.91500000000002
+   ],
+   "refball_rigid_mm": [
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+    0.24440448450872054,
+    38.77517786663904
+   ],
+   "gelball_mocap_mm": [
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+    -54.181252282163626,
+    47.0400848891515
+   ],
+   "ball_distance_mm": 58.70926005324889,
+   "axis_in_rigid": [
+    0.3475402906412716,
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+   ]
+  },
+  {
+   "pose_id": 1,
+   "rigid_position_mm": [
+    353.27599999999995,
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+   "rigid_quaternion": [
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+   "refball_mocap_mm": [
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+    93.362,
+    192.52700000000002
+   ],
+   "refball_rigid_mm": [
+    -17.719051737135942,
+    0.05003692040386909,
+    38.70185623252837
+   ],
+   "gelball_mocap_mm": [
+    324.832,
+    59.405,
+    181.358
+   ],
+   "gelball_rigid_mm": [
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+    -53.6213442033486,
+    48.27095310963361
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+   "ball_distance_mm": 58.419336233818946,
+   "axis_in_rigid": [
+    0.35932085411852144,
+    -0.9187263085108816,
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+  },
+  {
+   "pose_id": 2,
+   "rigid_position_mm": [
+    223.578,
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+   "rigid_quaternion": [
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+    -0.024821,
+    -0.319484,
+    -0.908567
+   ],
+   "refball_mocap_mm": [
+    204.961,
+    82.694,
+    161.719
+   ],
+   "refball_rigid_mm": [
+    -16.976131918410857,
+    0.5121306513728712,
+    38.23823845687237
+   ],
+   "gelball_mocap_mm": [
+    252.446,
+    62.707,
+    190.23399999999998
+   ],
+   "gelball_rigid_mm": [
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+    -54.15662509860903,
+    46.582569310640764
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+   "ball_distance_mm": 58.884723137669575,
+   "axis_in_rigid": [
+    0.3434925803423043,
+    -0.9284030362538862,
+    0.14170620848908067
+   ]
+  }
+ ],
+ "up_axis": "n/a (rigid-body frame)"
+}
\ No newline at end of file
diff --git a/data/toy/calibration/T_mocap_to_cam_left.json b/data/toy/calibration/T_mocap_to_cam_left.json
new file mode 100644
index 0000000000000000000000000000000000000000..56e9fd32527ce5590fd801fd9bb41bcc77018fc8
--- /dev/null
+++ b/data/toy/calibration/T_mocap_to_cam_left.json
@@ -0,0 +1,264 @@
+{
+ "description": "T_mocap_to_cam: maps OptiTrack (mm) -> camera frame (mm)",
+ "camera_serial": "104122062574",
+ "intrinsics": {
+  "fx": 608.4557495117188,
+  "fy": 608.1494750976562,
+  "ppx": 316.0635986328125,
+  "ppy": 224.6374053955078,
+  "width": 640,
+  "height": 480
+ },
+ "mocap_scale": 1000.0,
+ "created_at": "2026-09-09T07:41:39",
+ "points_px": [
+  [
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+ "points_mocap_mm": [
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+ "points_cam_mm": [
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+ ],
+ "method": "pnp",
+ "num_points": 14,
+ "rmse_px": 0.5820335045117107,
+ "num_inliers": 14,
+ "reproj_err_px": [
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+ "T_mocap_to_cam": [
+  [
+   -0.8868154787413457,
+   -0.3021879229672767,
+   -0.3496294694065147,
+   128.8094236392457
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+ ],
+ "up_axis": "z",
+ "up_axis_note": "converted from the recorded Y-up by R_x(-90): (x,y,z)->(x,-z,y). T_mocap_to_cam moved with the poses, so every projection is unchanged; the view-frame action is not."
+}
\ No newline at end of file
diff --git a/data/toy/calibration/T_mocap_to_cam_left.npy b/data/toy/calibration/T_mocap_to_cam_left.npy
new file mode 100644
index 0000000000000000000000000000000000000000..18c63b1e3536840d2ac48c79a7f31369608239be
--- /dev/null
+++ b/data/toy/calibration/T_mocap_to_cam_left.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de38b8aabb81e4ad2ff0e9694f022d564a4212973f9f0515774f89c3c669c68
+size 256
diff --git a/data/toy/calibration/T_mocap_to_cam_middle.json b/data/toy/calibration/T_mocap_to_cam_middle.json
new file mode 100644
index 0000000000000000000000000000000000000000..0156c76afb64bafc0a9b5afcae391a786cffaaa3
--- /dev/null
+++ b/data/toy/calibration/T_mocap_to_cam_middle.json
@@ -0,0 +1,264 @@
+{
+ "description": "T_mocap_to_cam: maps OptiTrack (mm) -> camera frame (mm)",
+ "camera_serial": "217222066989",
+ "intrinsics": {
+  "fx": 609.06005859375,
+  "fy": 608.275390625,
+  "ppx": 332.47943115234375,
+  "ppy": 239.3525390625,
+  "width": 640,
+  "height": 480
+ },
+ "mocap_scale": 1000.0,
+ "created_at": "2026-09-09T07:41:39",
+ "points_px": [
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\ No newline at end of file
diff --git a/data/toy/calibration/T_mocap_to_cam_middle.npy b/data/toy/calibration/T_mocap_to_cam_middle.npy
new file mode 100644
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\ No newline at end of file
diff --git a/data/toy/calibration/T_mocap_to_cam_right.npy b/data/toy/calibration/T_mocap_to_cam_right.npy
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