{ "schema_version": 1, "calibration_id": "vega_1u_2026-09-19", "robot": "dm/vg3eb20f25bb-1u", "status": "Provisional horizontal-constrained camera deployed 2026-09-23", "deployed_to_runtime": true, "conventions": { "length_unit": "metre", "angle_unit": "radian", "transform": "T_parent_child maps column-vector coordinates from child into parent: p_parent = R @ p_child + t", "base_frame": "base_link", "base_axes": "x forward, y robot-left, z up", "rotation_matrix_storage": "row-major nested arrays", "rpy_definition": "R = Rz(yaw) @ Ry(pitch) @ Rx(roll)" }, "tcp": { "parent_frame": "R_ee", "child_frame": "tip_r", "physical_point": "User-adjusted effective TCP: measured pivot-fit X/Z with Y=-18 mm; awaiting grasp validation", "adopted_translation_m": [ -0.0010254810072318691, -0.018, 0.19692868534887836 ], "adopted_rpy_rad": [ 3.141592653589793, 0, 1.5707963267948966 ], "T_R_ee_tip_r": [ [ 0, 1, 0, -0.0010254810072318691 ], [ 1, 0, 0, -0.018 ], [ 0, 0, -1, 0.19692868534887836 ], [ 0, 0, 0, 1 ] ], "translation_source": "User request 2026-09-24: set R_ee TCP Y to -18 mm; retain adopted measured pivot-fit X/Z and existing rotation", "rotation_source": "nominal tool-frame convention; not calibrated by pivot fitting", "pivot_fit_alternative": { "adopted": false, "translation_m": [ -0.0010254810072318691, -0.010438898921222017, 0.19692868534887836 ], "fit_rms_mm": 1.8015404335422287, "nominal_fixed_tcp_rms_mm": 2.1319078106345857, "source": "evidence/tcp_touch_20260919_160044/codex_review.json" }, "limitations": [ "Fingertip geometry changes with jaw opening; use a consistent contact point and opening.", "No calibrated gripping-pad-centre transform is supplied.", "Pivot fitting alone does not determine TCP orientation; mounting orientation is not fully independently certified." ], "user_correction_history": [ { "date": "2026-09-22", "frame": "R_ee", "previous_translation_m": [ 0.006, -0.024, 0.198 ], "new_translation_m": [ -0.001, -0.015, 0.198 ], "increment_from_previous_m": [ -0.007, 0.009, 0 ], "status": "user-requested restoration; not independently validated", "backup": "outputs/photo_tcp_fit/calibration.before_restore_minus1_minus15.json" }, { "date": "2026-09-24", "frame": "R_ee", "previous_translation_m": [ -0.001, -0.015, 0.198 ], "new_translation_m": [ -0.0010254810072318691, -0.010438898921222017, 0.19692868534887836 ], "status": "Measured pivot-fit translation adopted at user request; orientation unchanged; grasp not yet validated", "backup": "outputs/adopt_measured_tcp_20260924_104725/calibration.local.before.json" } ], "user_correction": { "date": "2026-09-24", "frame": "R_ee", "previous_translation_m": [ -0.0010254810072318691, -0.010438898921222017, 0.19692868534887836 ], "new_translation_m": [ -0.0010254810072318691, -0.018, 0.19692868534887836 ], "status": "User-requested Y adjustment; not yet grasp validated", "backup": "outputs/tcp_y_minus18_20260924_105643/calibration.local.before.json" } }, "camera": { "parent_frame": "base_link", "child_frame": "zed_left_camera", "optical_axes": "x image-right, y image-down, z forward", "T_base_camera": [ [ -0.0013837130901385743, -0.6362664678189364, 0.7714681245957596, 0.08905748732366152 ], [ -0.9999302774818821, -0.008166771632430021, -0.008529010265557607, 0.023881858821925006 ], [ 0.011727127230930423, -0.7714261375986157, -0.636210805249794, 1.1704476979498903 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "reference_head_joint_names": [ "head_j1", "head_j2", "head_j3" ], "reference_head_q_rad": [ -0.00017453292093705386, -0.00017453292093705386, -0.5056219100952148 ], "fixed_joint_assumptions": { "torso_flip": 0.22689280275926285, "Lift": 0 }, "fixed_joint_units": { "torso_flip": "radian", "Lift": "metre" }, "camera_model": "ZedXMini", "serial_number": 53756133, "image_size_wh": [ 1920, 1200 ], "rectified_left_intrinsics": { "cx": 966.6296997070312, "cy": 653.073486328125, "d_fov": 114.03307342529297, "distortion": [], "fx": 734.7626953125, "fy": 734.7626953125, "h_fov": 105.14381408691406, "v_fov": 78.47179412841797 }, "method": "Horizontal checkerboard constraint: A-F XY/yaw fit, training mean touch Z; s00 PnP normalized to reference head.", "source": "outputs/horizontal_extrinsics_20260923/comparison.json", "head_pose_scope": "Transform is for the listed head pose and fixed torso/Lift assumptions. Other head poses were not generally validated.", "recheck_20260923": { "fit_rms_mm": 1.7929219039527606, "heldout_rms_mm": 1.4957325579616725, "heldout_max_mm": 1.6803078089104213, "pnp_rms_px": 0.7961251236116945, "user_measured_table_tilt_deg": 0, "touch_plane_tilt_interpretation": "User measured table level; fitted touch tilt is not applied to support plane. Candidate retains unconstrained touch fit and may contain touch-Z bias.", "limitations": [ "Only first image has complete detected corners; others occluded", "No independent off-plane data", "Head normalization relies on relative URDF kinematics", "Single tool orientation cannot separate TCP translation bias from camera translation", "23.6 mm checker square assumed unchanged; paper surface is above gray board studs", "Pending clarification of manual distances; no manual-distance constraint used" ], "backup": "outputs/extrinsics_recheck_20260923/deployment/calibration.robot.before.json" }, "horizontal_recheck_20260923": { "heldout_rms_mm": 1.176228607215586, "board_edge_p90_px": 4.460444614130438, "checker_surface_z_m": 0.5968671236830878, "limitations": [ "Single view, single wrist orientation, same-plane touch validation", "Touch Z bias can shift camera height; horizontal constraint removes tilt but not common translation bias", "23.6 mm checker squares and 380 mm gray board assumed", "Gray board Z remains fixed .590 m; checker surface height is estimated separately", "No live hardware motion or calibration deployment" ], "supersedes": "recheck_20260923 unconstrained result" }, "tcp_pair_update_20260924": { "source": "outputs/extrinsics_current_tcp_20260924/calculation.json", "tcp_translation_m": [ -0.0010254810072318691, -0.018, 0.19692868534887836 ], "method": "Original nine-point data; horizontal A-F fit, GHI held out", "heldout_xyz_rms_mm": 1.1762003069538702, "limitation": "Existing single wrist orientation data; no new physical validation" } }, "validation": { "table_fit_rms_mm": 1.8646166815883083, "table_heldout_rms_mm": 2.686359321750409, "table_heldout_max_mm": 3.1480132192380013, "raised_repeat_labels": [ "F_prime", "A" ], "raised_repeat_errors_mm": [ 5.364642750343588, 3.9249527598170606 ], "raised_repeat_rms_mm": 4.700247121461253, "cross_orientation_same_point_separation_mm": 5.815255579847275, "cross_orientation_change_deg": 20.002635126814532, "summary": "Several-millimetre agreement at tested locations; approximately 5-6 mm is a session summary, not a global accuracy bound or precision-assembly certification." }, "board": { "square_size_m": 0.0236, "inner_corner_grid": [ 9, 6 ], "corner_coordinates": "index i -> [(i%9)*0.0236, floor(i/9)*0.0236, 0] in board frame", "fit_point_corner_ids": { "A": 0, "B": 18, "C": 45, "D": 53, "E": 26, "F": 8, "G": 13, "H": 30, "I": 42 }, "raised_repeat_corner_ids": { "F_prime": 7, "A": 0 }, "orientation_check_corner_id": 36 }, "limitations": [ "Extrinsics and TCP were not refitted to raised-board or orientation validation samples.", "Manual touch error, board deformation, changing contact geometry and robot kinematic errors are not separated.", "Original jog data lack explicit image/joint timestamp synchronization; some camera_info fields are null.", "Raised repeat uses a post-touch reference photo and user-confirmed board immobility.", "Final desk move occurred before both orientation touches; their pairwise comparison is valid but no new absolute camera check was completed due to occlusion.", "A pick trial lifted the brick then slipped; it is not a successful precision-placement validation." ], "urdf": { "file": "evidence/vega_1u.urdf", "sha256": "b8111dbda1c47aabb0d03fd84be14d638e90a163e1770b76efe9c8e5104924d5" } }