{
  "task": "motherboard",
  "calibration_id": "may-12",
  "created": "2026-05-12",
  "method": "PnP (8 points, 3D mocap pts)",
  "applies_to_dates": [
    "2026-05-10",
    "2026-05-11",
    "2026-05-19"
  ],
  "rmse_unit": "mm",
  "cameras": {
    "left": {
      "camera_serial": "104122062574",
      "rmse": 4.747439312142084,
      "created_at": "2026-05-12T22:16:20"
    },
    "middle": {
      "camera_serial": "217222066989",
      "rmse": 5.298559912741648,
      "created_at": "2026-05-12T20:34:29"
    },
    "right": {
      "camera_serial": "143322063538",
      "rmse": 7.520075033441005,
      "created_at": "2026-05-12T22:31:39"
    }
  },
  "projection_chain": "sensor_pose (mocap mm) -> T_mocap_to_cam -> camera intrinsics -> pixel; gel center via T_gel_to_rigid",
  "note": "May-12 calibration. Applies to all motherboard sessions. Left GelSight serial 2BGLKZNT (05-10/05-11) / 2DUPB53G (05-19, swapped); a single shared T_gel_to_rigid_left is provided."
}