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+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000005.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000005.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000005.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000006.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000006.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000006.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000007.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000007.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000007.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000008.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000008.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000008.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000009.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000009.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000009.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000010.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000010.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000010.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000011.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000011.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000011.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000012.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000012.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000012.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000013.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000013.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000013.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000014.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000014.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000014.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000015.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000015.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000015.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000016.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000016.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000016.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000017.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000017.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000017.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000018.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000018.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000018.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000019.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000019.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000019.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000020.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000020.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000020.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000021.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000021.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000021.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000022.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000022.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000022.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000023.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000023.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000023.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000024.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000024.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000024.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000025.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000025.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000025.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000026.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000026.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000026.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000027.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000027.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000027.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000028.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000028.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000028.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000029.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000029.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000029.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000030.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000030.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000030.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000031.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000031.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000031.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000032.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000032.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000032.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000033.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000033.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000033.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000034.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000034.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000034.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000035.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000035.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000035.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000036.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000036.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000036.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000037.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000037.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000037.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000038.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000038.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000038.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000039.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000039.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000039.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000040.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000040.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000040.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000041.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000041.toml
new file mode 100644
index 0000000000000000000000000000000000000000..cff62a20e5d559973c76366ca87aa65633a19863
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000041.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.493324999833713
+
+[optitrack_to_camera_world]
+scale = 1.0026591484075293
+rotation_matrix = [[0.5568058094105547, -0.0054500198587464676, 0.8306248177668402], [-0.8306197609369024, 0.003777965109783391, 0.556827208136198], [-0.00617279092307586, -0.9999780118898461, -0.0024233012712958682]]
+translation_m = [-0.7970758585632212, -3.4836739845895317, 0.7603557185333589]
+
+[camera_world_to_optitrack]
+scale = 0.9973479039095662
+rotation_matrix = [[0.5568058094105547, -0.8306197609369024, -0.00617279092307586], [-0.0054500198587464676, 0.003777965109783391, -0.9999780118898461], [0.8306248177668402, 0.556827208136198, -0.0024233012712958682]]
+translation_m = [-2.438613830710771, 0.7671162433207898, 2.596812709259995]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006657154701320937, 0.000684412443459417, 0.009239224904854168], [0.00018568405845656653, 0.0010468435530175367, 0.006691903237159365], [0.0010340070111312777, 0.0009170104957887747, 0.008214670072043333], [-0.0004987146667033553, 0.0007882786396707401, 0.006964627030361264]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0701_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013960834463232913
+upper_sigma_m = 0.001260611771692475
+threshold_m = 0.003917306989708241
+input_points = 27075
+kept_points = 21420
+dropped_points = 5655
+input_frames = 1805
+kept_frames = 1428
+dropped_frames = 377
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000042.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000042.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000042.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000043.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000043.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000043.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000044.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000044.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000044.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000045.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000045.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000045.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000046.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000046.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000046.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000047.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000047.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000047.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000048.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000048.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000048.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000049.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000049.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000049.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000050.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000050.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000050.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000051.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000051.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000051.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000052.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000052.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000052.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000053.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000053.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000053.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000054.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000054.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000054.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000055.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000055.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000055.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000056.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000056.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000056.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000057.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000057.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000057.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000058.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000058.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000058.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000059.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000059.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000059.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000060.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000060.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000060.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000061.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000061.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000061.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000062.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000062.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000062.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000063.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000063.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000063.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000064.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000064.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000064.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000065.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000065.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000065.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000066.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000066.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000066.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000067.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000067.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000067.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000068.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000068.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000068.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000069.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000069.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000069.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000070.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000070.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000070.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000071.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000071.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000071.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000072.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000072.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000072.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000073.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000073.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000073.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000074.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000074.toml
new file mode 100644
index 0000000000000000000000000000000000000000..68442eedfd07f1c1ead080521dece71bddb77f00
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000074.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -0.6695982494239112
+
+[optitrack_to_camera_world]
+scale = 1.0034012714774136
+rotation_matrix = [[0.05786909273369474, 0.002273658984584613, 0.9983215907617145], [-0.9983182510433177, -0.003314573594992861, 0.057876448022440026], [0.0034406016900920848, -0.9999919220057254, 0.002078023894218209]]
+translation_m = [-2.3998789035217505, -2.4315036972193065, 0.7731369253340528]
+
+[camera_world_to_optitrack]
+scale = 0.996610257955518
+rotation_matrix = [[0.05786909273369474, -0.9983182510433177, 0.0034406016900920848], [0.002273658984584613, -0.003314573594992861, -0.9999919220057254], [0.9983215907617145, 0.057876448022440026, 0.002078023894218209]]
+translation_m = [-2.283429197208619, 0.7679158977782076, 2.526378226739682]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0005988854478270831, 0.0003960711064403339, 0.00901326933111021], [0.0002038168666429875, 0.0008739084358155246, 0.0063326448562466345], [0.0009973073541566114, 0.0008285893692711565, 0.008034456397658662], [-0.000489738224952283, 0.0006152547635649285, 0.006578718199207484]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0013102146457366827
+upper_sigma_m = 0.0013284903001575604
+threshold_m = 0.003967195246051804
+input_points = 26070
+kept_points = 21375
+dropped_points = 4695
+input_frames = 1738
+kept_frames = 1425
+dropped_frames = 313
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000075.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000075.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000075.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000076.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000076.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000076.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000077.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000077.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000077.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000078.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000078.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000078.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000079.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000079.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000079.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000080.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000080.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000080.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000081.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000081.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000081.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000082.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000082.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000082.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000083.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000083.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000083.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000084.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000084.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000084.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000085.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000085.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000085.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000086.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000086.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000086.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000087.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000087.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000087.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000088.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000088.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000088.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000089.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000089.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000089.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000090.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000090.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000090.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000091.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000091.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000091.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000092.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000092.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000092.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000093.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000093.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000093.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000094.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000094.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000094.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000095.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000095.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000095.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000096.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000096.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000096.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000097.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000097.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000097.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000098.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000098.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000098.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000099.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000099.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000099.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000100.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000100.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000100.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000101.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000101.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000101.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000102.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000102.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000102.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000103.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000103.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000103.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000104.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000104.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000104.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000105.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000105.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000105.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000106.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000106.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000106.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000107.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000107.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000107.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000108.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000108.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000108.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000109.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000109.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000109.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000110.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000110.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000110.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000111.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000111.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000111.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000112.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000112.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000112.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000113.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000113.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000113.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000114.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000114.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000114.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000115.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000115.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000115.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000116.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000116.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000116.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000117.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000117.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000117.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000118.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000118.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000118.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000119.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000119.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000119.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000120.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000120.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000120.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000121.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000121.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000121.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000122.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000122.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000122.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000123.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000123.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000123.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000124.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000124.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000124.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000125.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000125.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000125.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000126.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000126.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000126.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000127.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000127.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000127.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000128.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000128.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000128.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000129.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000129.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000129.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000130.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000130.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000130.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000131.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000131.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000131.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000132.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000132.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000132.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000133.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000133.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000133.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000134.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000134.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000134.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000135.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000135.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000135.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000136.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000136.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000136.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000137.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000137.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000137.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000138.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000138.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000138.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000139.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000139.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000139.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000140.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000140.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000140.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000141.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000141.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000141.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000142.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000142.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000142.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000143.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000143.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000143.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000144.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000144.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000144.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000145.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000145.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000145.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000146.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000146.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000146.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000147.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000147.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000147.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000148.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000148.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000148.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000149.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000149.toml
new file mode 100644
index 0000000000000000000000000000000000000000..44d240ca52fc9cf6a639bb70266ce2b294d44dcf
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000149.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -6.040630280840481
+
+[optitrack_to_camera_world]
+scale = 1.0024651371335511
+rotation_matrix = [[0.011589720394773751, 0.0000675523330006851, 0.999932834653335], [-0.9999327729248452, -0.00035702871494990956, 0.01158974379905209], [0.0003577876492248889, -0.9999999339835873, 0.00006340992867541528]]
+translation_m = [-2.388591131620863, -2.2284893619438044, 0.7695942281984157]
+
+[camera_world_to_optitrack]
+scale = 0.9975409248239795
+rotation_matrix = [[0.011589720394773751, -0.9999327729248452, 0.0003577876492248889], [0.0000675523330006851, -0.00035702871494990956, -0.9999999339835873], [0.999932834653335, 0.01158974379905209, 0.00006340992867541528]]
+translation_m = [-2.195519538337437, 0.7670689674073663, 2.4082727992131283]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008264526624394559, 0.000366598504346579, 0.009417106288030582], [0.00007958068108140022, 0.0009125517714380522, 0.006804441166250607], [0.0007727144857737821, 0.0008196372463766719, 0.008506326087964363], [-0.0007859559921524339, 0.0005330755466648972, 0.00723548969482518]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0702_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011343264196928431
+upper_sigma_m = 0.0008463733331039495
+threshold_m = 0.002827073085900742
+input_points = 28665
+kept_points = 21015
+dropped_points = 7650
+input_frames = 1911
+kept_frames = 1401
+dropped_frames = 510
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000150.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000150.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000150.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000151.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000151.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000151.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000152.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000152.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000152.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000153.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000153.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000153.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000154.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000154.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000154.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000155.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000155.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000155.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000156.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000156.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000156.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000157.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000157.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000157.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000158.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000158.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000158.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000159.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000159.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000159.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000160.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000160.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000160.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000161.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000161.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000161.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000162.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000162.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000162.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000163.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000163.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000163.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000164.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000164.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000164.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000165.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000165.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000165.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000166.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000166.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000166.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000167.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000167.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000167.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000168.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000168.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000168.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000169.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000169.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000169.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000170.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000170.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000170.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000171.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000171.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000171.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000172.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000172.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000172.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000173.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000173.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000173.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000174.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000174.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000174.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000175.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000175.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000175.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000176.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000176.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000176.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000177.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000177.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000177.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000178.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000178.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000178.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000179.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000179.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000179.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000180.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000180.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000180.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000181.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000181.toml
new file mode 100644
index 0000000000000000000000000000000000000000..703ebb1daad1539e9d4c93c2bb5fd442c8d3d701
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000181.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.166778327301034
+
+[optitrack_to_camera_world]
+scale = 1.0030025745671445
+rotation_matrix = [[0.032608024407620194, -0.002873749009836817, 0.9994640855532834], [-0.9994598494641886, 0.003998152529741433, 0.0326193820507225], [-0.00408974977891035, -0.9999878780980183, -0.002741824897493951]]
+translation_m = [-2.5252383374485894, -2.264763896037496, 0.7672991265909875]
+
+[camera_world_to_optitrack]
+scale = 0.9970064138983489
+rotation_matrix = [[0.032608024407620194, -0.9994598494641886, -0.00408974977891035], [-0.002873749009836817, 0.003998152529741433, -0.9999878780980183], [0.9994640855532834, 0.0326193820507225, -0.002741824897493951]]
+translation_m = [-2.1715392792183135, 0.7667854652581089, 2.5920811075612513]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0009040876577256931, 0.00029204112775670386, 0.008868514686983764], [-0.00010228688121776533, 0.0007271258559851848, 0.006422745422877993], [0.0006342604948937823, 0.000530808240253432, 0.007704214979348262], [-0.0007645472839718, 0.00030699941320282137, 0.006478634545792323]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib3/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0050170659835282036
+upper_sigma_m = 0.0055918270488885015
+threshold_m = 0.016200720081305207
+input_points = 31590
+kept_points = 28635
+dropped_points = 2955
+input_frames = 2106
+kept_frames = 1909
+dropped_frames = 197
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000182.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000182.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000182.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000183.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000183.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000183.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000184.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000184.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000184.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000185.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000185.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000185.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000186.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000186.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000186.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000187.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000187.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000187.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000188.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000188.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000188.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000189.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000189.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000189.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000190.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000190.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000190.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000191.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000191.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000191.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000192.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000192.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000192.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000193.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000193.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000193.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000194.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000194.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000194.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000195.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000195.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000195.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000196.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000196.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000196.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000197.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000197.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000197.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000198.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000198.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000198.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000199.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000199.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000199.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000200.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000200.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000200.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000201.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000201.toml
new file mode 100644
index 0000000000000000000000000000000000000000..b577f1971cb4a7c620629b9d7a491cdc2b222174
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000201.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = 4.147606184631684
+
+[optitrack_to_camera_world]
+scale = 1.002490944409731
+rotation_matrix = [[0.014119416238827504, -0.0013318688912207462, 0.9998994290479076], [-0.9998976836878786, 0.0022758129812646987, 0.0141224229822652], [-0.0022943933164251305, -0.9999965233942224, -0.001299599468543129]]
+translation_m = [-2.4280209770880834, -2.2714720185241033, 0.7678638911478687]
+
+[camera_world_to_optitrack]
+scale = 0.9975152449769034
+rotation_matrix = [[0.014119416238827504, -0.9998976836878786, -0.0022943933164251305], [-0.0013318688912207462, 0.0022758129812646987, -0.9999965233942224], [0.9998994290479076, 0.0141224229822652, -0.001299599468543129]]
+translation_m = [-2.2296416758240984, 0.7678841048692048, 2.4547387750205565]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006842548312862323, -0.00012549774392578889, 0.008489280411906247], [0.0001616990062602626, 0.0004573723813551665, 0.005962401347094184], [0.001004082237144547, 0.000332957727882769, 0.00747258747967294], [-0.0005313541801722658, -0.00005212433724011212, 0.0064488601612623575]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0703_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0008505207292033782
+upper_sigma_m = 0.0007111844368289899
+threshold_m = 0.002272889602861358
+input_points = 24975
+kept_points = 18930
+dropped_points = 6045
+input_frames = 1665
+kept_frames = 1262
+dropped_frames = 403
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000202.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000202.toml
new file mode 100644
index 0000000000000000000000000000000000000000..428a57987ea2a2089c53f4a618eddef43d604d5f
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000202.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.632762838133559
+
+[optitrack_to_camera_world]
+scale = 1.0014394209992818
+rotation_matrix = [[0.028982888602875744, 0.00010507498580403274, 0.9995799023227108], [-0.9995778754526197, 0.002019600566995205, 0.028982617534950246], [-0.0020157067893618857, -0.9999979550843078, 0.00016356448932912073]]
+translation_m = [-2.442482169514578, -2.262211763853516, 0.7622482695577631]
+
+[camera_world_to_optitrack]
+scale = 0.9985626479554345
+rotation_matrix = [[0.028982888602875744, -0.9995778754526197, -0.0020157067893618857], [0.00010507498580403274, 0.002019600566995205, -0.9999979550843078], [0.9995799023227108, 0.028982617534950246, 0.00016356448932912073]]
+translation_m = [-2.185783907834114, 0.7659695660863101, 2.5032929375924997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008304212197964399, 0.0004065685998552766, 0.00977460105180132], [-0.000004219042250978893, 0.0007372694415652439, 0.006126732734321362], [0.0008451528565678557, 0.000616247277510625, 0.008063348172208062], [-0.0006711656161726815, 0.0004952547513397602, 0.006905753200965438]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010846947775792009
+upper_sigma_m = 0.0008330476266018848
+threshold_m = 0.0027507900307829703
+input_points = 26985
+kept_points = 20790
+dropped_points = 6195
+input_frames = 1799
+kept_frames = 1386
+dropped_frames = 413
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000203.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000203.toml
new file mode 100644
index 0000000000000000000000000000000000000000..428a57987ea2a2089c53f4a618eddef43d604d5f
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000203.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.632762838133559
+
+[optitrack_to_camera_world]
+scale = 1.0014394209992818
+rotation_matrix = [[0.028982888602875744, 0.00010507498580403274, 0.9995799023227108], [-0.9995778754526197, 0.002019600566995205, 0.028982617534950246], [-0.0020157067893618857, -0.9999979550843078, 0.00016356448932912073]]
+translation_m = [-2.442482169514578, -2.262211763853516, 0.7622482695577631]
+
+[camera_world_to_optitrack]
+scale = 0.9985626479554345
+rotation_matrix = [[0.028982888602875744, -0.9995778754526197, -0.0020157067893618857], [0.00010507498580403274, 0.002019600566995205, -0.9999979550843078], [0.9995799023227108, 0.028982617534950246, 0.00016356448932912073]]
+translation_m = [-2.185783907834114, 0.7659695660863101, 2.5032929375924997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008304212197964399, 0.0004065685998552766, 0.00977460105180132], [-0.000004219042250978893, 0.0007372694415652439, 0.006126732734321362], [0.0008451528565678557, 0.000616247277510625, 0.008063348172208062], [-0.0006711656161726815, 0.0004952547513397602, 0.006905753200965438]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010846947775792009
+upper_sigma_m = 0.0008330476266018848
+threshold_m = 0.0027507900307829703
+input_points = 26985
+kept_points = 20790
+dropped_points = 6195
+input_frames = 1799
+kept_frames = 1386
+dropped_frames = 413
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000204.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000204.toml
new file mode 100644
index 0000000000000000000000000000000000000000..428a57987ea2a2089c53f4a618eddef43d604d5f
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000204.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.632762838133559
+
+[optitrack_to_camera_world]
+scale = 1.0014394209992818
+rotation_matrix = [[0.028982888602875744, 0.00010507498580403274, 0.9995799023227108], [-0.9995778754526197, 0.002019600566995205, 0.028982617534950246], [-0.0020157067893618857, -0.9999979550843078, 0.00016356448932912073]]
+translation_m = [-2.442482169514578, -2.262211763853516, 0.7622482695577631]
+
+[camera_world_to_optitrack]
+scale = 0.9985626479554345
+rotation_matrix = [[0.028982888602875744, -0.9995778754526197, -0.0020157067893618857], [0.00010507498580403274, 0.002019600566995205, -0.9999979550843078], [0.9995799023227108, 0.028982617534950246, 0.00016356448932912073]]
+translation_m = [-2.185783907834114, 0.7659695660863101, 2.5032929375924997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008304212197964399, 0.0004065685998552766, 0.00977460105180132], [-0.000004219042250978893, 0.0007372694415652439, 0.006126732734321362], [0.0008451528565678557, 0.000616247277510625, 0.008063348172208062], [-0.0006711656161726815, 0.0004952547513397602, 0.006905753200965438]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010846947775792009
+upper_sigma_m = 0.0008330476266018848
+threshold_m = 0.0027507900307829703
+input_points = 26985
+kept_points = 20790
+dropped_points = 6195
+input_frames = 1799
+kept_frames = 1386
+dropped_frames = 413
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000205.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000205.toml
new file mode 100644
index 0000000000000000000000000000000000000000..428a57987ea2a2089c53f4a618eddef43d604d5f
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000205.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.632762838133559
+
+[optitrack_to_camera_world]
+scale = 1.0014394209992818
+rotation_matrix = [[0.028982888602875744, 0.00010507498580403274, 0.9995799023227108], [-0.9995778754526197, 0.002019600566995205, 0.028982617534950246], [-0.0020157067893618857, -0.9999979550843078, 0.00016356448932912073]]
+translation_m = [-2.442482169514578, -2.262211763853516, 0.7622482695577631]
+
+[camera_world_to_optitrack]
+scale = 0.9985626479554345
+rotation_matrix = [[0.028982888602875744, -0.9995778754526197, -0.0020157067893618857], [0.00010507498580403274, 0.002019600566995205, -0.9999979550843078], [0.9995799023227108, 0.028982617534950246, 0.00016356448932912073]]
+translation_m = [-2.185783907834114, 0.7659695660863101, 2.5032929375924997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008304212197964399, 0.0004065685998552766, 0.00977460105180132], [-0.000004219042250978893, 0.0007372694415652439, 0.006126732734321362], [0.0008451528565678557, 0.000616247277510625, 0.008063348172208062], [-0.0006711656161726815, 0.0004952547513397602, 0.006905753200965438]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010846947775792009
+upper_sigma_m = 0.0008330476266018848
+threshold_m = 0.0027507900307829703
+input_points = 26985
+kept_points = 20790
+dropped_points = 6195
+input_frames = 1799
+kept_frames = 1386
+dropped_frames = 413
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000206.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000206.toml
new file mode 100644
index 0000000000000000000000000000000000000000..428a57987ea2a2089c53f4a618eddef43d604d5f
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000206.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.632762838133559
+
+[optitrack_to_camera_world]
+scale = 1.0014394209992818
+rotation_matrix = [[0.028982888602875744, 0.00010507498580403274, 0.9995799023227108], [-0.9995778754526197, 0.002019600566995205, 0.028982617534950246], [-0.0020157067893618857, -0.9999979550843078, 0.00016356448932912073]]
+translation_m = [-2.442482169514578, -2.262211763853516, 0.7622482695577631]
+
+[camera_world_to_optitrack]
+scale = 0.9985626479554345
+rotation_matrix = [[0.028982888602875744, -0.9995778754526197, -0.0020157067893618857], [0.00010507498580403274, 0.002019600566995205, -0.9999979550843078], [0.9995799023227108, 0.028982617534950246, 0.00016356448932912073]]
+translation_m = [-2.185783907834114, 0.7659695660863101, 2.5032929375924997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008304212197964399, 0.0004065685998552766, 0.00977460105180132], [-0.000004219042250978893, 0.0007372694415652439, 0.006126732734321362], [0.0008451528565678557, 0.000616247277510625, 0.008063348172208062], [-0.0006711656161726815, 0.0004952547513397602, 0.006905753200965438]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010846947775792009
+upper_sigma_m = 0.0008330476266018848
+threshold_m = 0.0027507900307829703
+input_points = 26985
+kept_points = 20790
+dropped_points = 6195
+input_frames = 1799
+kept_frames = 1386
+dropped_frames = 413
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000207.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000207.toml
new file mode 100644
index 0000000000000000000000000000000000000000..428a57987ea2a2089c53f4a618eddef43d604d5f
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000207.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.632762838133559
+
+[optitrack_to_camera_world]
+scale = 1.0014394209992818
+rotation_matrix = [[0.028982888602875744, 0.00010507498580403274, 0.9995799023227108], [-0.9995778754526197, 0.002019600566995205, 0.028982617534950246], [-0.0020157067893618857, -0.9999979550843078, 0.00016356448932912073]]
+translation_m = [-2.442482169514578, -2.262211763853516, 0.7622482695577631]
+
+[camera_world_to_optitrack]
+scale = 0.9985626479554345
+rotation_matrix = [[0.028982888602875744, -0.9995778754526197, -0.0020157067893618857], [0.00010507498580403274, 0.002019600566995205, -0.9999979550843078], [0.9995799023227108, 0.028982617534950246, 0.00016356448932912073]]
+translation_m = [-2.185783907834114, 0.7659695660863101, 2.5032929375924997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008304212197964399, 0.0004065685998552766, 0.00977460105180132], [-0.000004219042250978893, 0.0007372694415652439, 0.006126732734321362], [0.0008451528565678557, 0.000616247277510625, 0.008063348172208062], [-0.0006711656161726815, 0.0004952547513397602, 0.006905753200965438]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010846947775792009
+upper_sigma_m = 0.0008330476266018848
+threshold_m = 0.0027507900307829703
+input_points = 26985
+kept_points = 20790
+dropped_points = 6195
+input_frames = 1799
+kept_frames = 1386
+dropped_frames = 413
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000208.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000208.toml
new file mode 100644
index 0000000000000000000000000000000000000000..428a57987ea2a2089c53f4a618eddef43d604d5f
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000208.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.632762838133559
+
+[optitrack_to_camera_world]
+scale = 1.0014394209992818
+rotation_matrix = [[0.028982888602875744, 0.00010507498580403274, 0.9995799023227108], [-0.9995778754526197, 0.002019600566995205, 0.028982617534950246], [-0.0020157067893618857, -0.9999979550843078, 0.00016356448932912073]]
+translation_m = [-2.442482169514578, -2.262211763853516, 0.7622482695577631]
+
+[camera_world_to_optitrack]
+scale = 0.9985626479554345
+rotation_matrix = [[0.028982888602875744, -0.9995778754526197, -0.0020157067893618857], [0.00010507498580403274, 0.002019600566995205, -0.9999979550843078], [0.9995799023227108, 0.028982617534950246, 0.00016356448932912073]]
+translation_m = [-2.185783907834114, 0.7659695660863101, 2.5032929375924997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008304212197964399, 0.0004065685998552766, 0.00977460105180132], [-0.000004219042250978893, 0.0007372694415652439, 0.006126732734321362], [0.0008451528565678557, 0.000616247277510625, 0.008063348172208062], [-0.0006711656161726815, 0.0004952547513397602, 0.006905753200965438]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010846947775792009
+upper_sigma_m = 0.0008330476266018848
+threshold_m = 0.0027507900307829703
+input_points = 26985
+kept_points = 20790
+dropped_points = 6195
+input_frames = 1799
+kept_frames = 1386
+dropped_frames = 413
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000209.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000209.toml
new file mode 100644
index 0000000000000000000000000000000000000000..428a57987ea2a2089c53f4a618eddef43d604d5f
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000209.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.632762838133559
+
+[optitrack_to_camera_world]
+scale = 1.0014394209992818
+rotation_matrix = [[0.028982888602875744, 0.00010507498580403274, 0.9995799023227108], [-0.9995778754526197, 0.002019600566995205, 0.028982617534950246], [-0.0020157067893618857, -0.9999979550843078, 0.00016356448932912073]]
+translation_m = [-2.442482169514578, -2.262211763853516, 0.7622482695577631]
+
+[camera_world_to_optitrack]
+scale = 0.9985626479554345
+rotation_matrix = [[0.028982888602875744, -0.9995778754526197, -0.0020157067893618857], [0.00010507498580403274, 0.002019600566995205, -0.9999979550843078], [0.9995799023227108, 0.028982617534950246, 0.00016356448932912073]]
+translation_m = [-2.185783907834114, 0.7659695660863101, 2.5032929375924997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008304212197964399, 0.0004065685998552766, 0.00977460105180132], [-0.000004219042250978893, 0.0007372694415652439, 0.006126732734321362], [0.0008451528565678557, 0.000616247277510625, 0.008063348172208062], [-0.0006711656161726815, 0.0004952547513397602, 0.006905753200965438]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010846947775792009
+upper_sigma_m = 0.0008330476266018848
+threshold_m = 0.0027507900307829703
+input_points = 26985
+kept_points = 20790
+dropped_points = 6195
+input_frames = 1799
+kept_frames = 1386
+dropped_frames = 413
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000210.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000210.toml
new file mode 100644
index 0000000000000000000000000000000000000000..428a57987ea2a2089c53f4a618eddef43d604d5f
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000210.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.632762838133559
+
+[optitrack_to_camera_world]
+scale = 1.0014394209992818
+rotation_matrix = [[0.028982888602875744, 0.00010507498580403274, 0.9995799023227108], [-0.9995778754526197, 0.002019600566995205, 0.028982617534950246], [-0.0020157067893618857, -0.9999979550843078, 0.00016356448932912073]]
+translation_m = [-2.442482169514578, -2.262211763853516, 0.7622482695577631]
+
+[camera_world_to_optitrack]
+scale = 0.9985626479554345
+rotation_matrix = [[0.028982888602875744, -0.9995778754526197, -0.0020157067893618857], [0.00010507498580403274, 0.002019600566995205, -0.9999979550843078], [0.9995799023227108, 0.028982617534950246, 0.00016356448932912073]]
+translation_m = [-2.185783907834114, 0.7659695660863101, 2.5032929375924997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008304212197964399, 0.0004065685998552766, 0.00977460105180132], [-0.000004219042250978893, 0.0007372694415652439, 0.006126732734321362], [0.0008451528565678557, 0.000616247277510625, 0.008063348172208062], [-0.0006711656161726815, 0.0004952547513397602, 0.006905753200965438]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010846947775792009
+upper_sigma_m = 0.0008330476266018848
+threshold_m = 0.0027507900307829703
+input_points = 26985
+kept_points = 20790
+dropped_points = 6195
+input_frames = 1799
+kept_frames = 1386
+dropped_frames = 413
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000211.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000211.toml
new file mode 100644
index 0000000000000000000000000000000000000000..428a57987ea2a2089c53f4a618eddef43d604d5f
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000211.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.632762838133559
+
+[optitrack_to_camera_world]
+scale = 1.0014394209992818
+rotation_matrix = [[0.028982888602875744, 0.00010507498580403274, 0.9995799023227108], [-0.9995778754526197, 0.002019600566995205, 0.028982617534950246], [-0.0020157067893618857, -0.9999979550843078, 0.00016356448932912073]]
+translation_m = [-2.442482169514578, -2.262211763853516, 0.7622482695577631]
+
+[camera_world_to_optitrack]
+scale = 0.9985626479554345
+rotation_matrix = [[0.028982888602875744, -0.9995778754526197, -0.0020157067893618857], [0.00010507498580403274, 0.002019600566995205, -0.9999979550843078], [0.9995799023227108, 0.028982617534950246, 0.00016356448932912073]]
+translation_m = [-2.185783907834114, 0.7659695660863101, 2.5032929375924997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008304212197964399, 0.0004065685998552766, 0.00977460105180132], [-0.000004219042250978893, 0.0007372694415652439, 0.006126732734321362], [0.0008451528565678557, 0.000616247277510625, 0.008063348172208062], [-0.0006711656161726815, 0.0004952547513397602, 0.006905753200965438]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010846947775792009
+upper_sigma_m = 0.0008330476266018848
+threshold_m = 0.0027507900307829703
+input_points = 26985
+kept_points = 20790
+dropped_points = 6195
+input_frames = 1799
+kept_frames = 1386
+dropped_frames = 413
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000212.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000212.toml
new file mode 100644
index 0000000000000000000000000000000000000000..428a57987ea2a2089c53f4a618eddef43d604d5f
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000212.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.632762838133559
+
+[optitrack_to_camera_world]
+scale = 1.0014394209992818
+rotation_matrix = [[0.028982888602875744, 0.00010507498580403274, 0.9995799023227108], [-0.9995778754526197, 0.002019600566995205, 0.028982617534950246], [-0.0020157067893618857, -0.9999979550843078, 0.00016356448932912073]]
+translation_m = [-2.442482169514578, -2.262211763853516, 0.7622482695577631]
+
+[camera_world_to_optitrack]
+scale = 0.9985626479554345
+rotation_matrix = [[0.028982888602875744, -0.9995778754526197, -0.0020157067893618857], [0.00010507498580403274, 0.002019600566995205, -0.9999979550843078], [0.9995799023227108, 0.028982617534950246, 0.00016356448932912073]]
+translation_m = [-2.185783907834114, 0.7659695660863101, 2.5032929375924997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008304212197964399, 0.0004065685998552766, 0.00977460105180132], [-0.000004219042250978893, 0.0007372694415652439, 0.006126732734321362], [0.0008451528565678557, 0.000616247277510625, 0.008063348172208062], [-0.0006711656161726815, 0.0004952547513397602, 0.006905753200965438]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010846947775792009
+upper_sigma_m = 0.0008330476266018848
+threshold_m = 0.0027507900307829703
+input_points = 26985
+kept_points = 20790
+dropped_points = 6195
+input_frames = 1799
+kept_frames = 1386
+dropped_frames = 413
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000213.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000213.toml
new file mode 100644
index 0000000000000000000000000000000000000000..428a57987ea2a2089c53f4a618eddef43d604d5f
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000213.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.632762838133559
+
+[optitrack_to_camera_world]
+scale = 1.0014394209992818
+rotation_matrix = [[0.028982888602875744, 0.00010507498580403274, 0.9995799023227108], [-0.9995778754526197, 0.002019600566995205, 0.028982617534950246], [-0.0020157067893618857, -0.9999979550843078, 0.00016356448932912073]]
+translation_m = [-2.442482169514578, -2.262211763853516, 0.7622482695577631]
+
+[camera_world_to_optitrack]
+scale = 0.9985626479554345
+rotation_matrix = [[0.028982888602875744, -0.9995778754526197, -0.0020157067893618857], [0.00010507498580403274, 0.002019600566995205, -0.9999979550843078], [0.9995799023227108, 0.028982617534950246, 0.00016356448932912073]]
+translation_m = [-2.185783907834114, 0.7659695660863101, 2.5032929375924997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008304212197964399, 0.0004065685998552766, 0.00977460105180132], [-0.000004219042250978893, 0.0007372694415652439, 0.006126732734321362], [0.0008451528565678557, 0.000616247277510625, 0.008063348172208062], [-0.0006711656161726815, 0.0004952547513397602, 0.006905753200965438]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010846947775792009
+upper_sigma_m = 0.0008330476266018848
+threshold_m = 0.0027507900307829703
+input_points = 26985
+kept_points = 20790
+dropped_points = 6195
+input_frames = 1799
+kept_frames = 1386
+dropped_frames = 413
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000214.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000214.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000214.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000215.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000215.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000215.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000216.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000216.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000216.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000217.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000217.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000217.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000218.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000218.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000218.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000219.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000219.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000219.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000220.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000220.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000220.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000221.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000221.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000221.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000222.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000222.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000222.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000223.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000223.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000223.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000224.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000224.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000224.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000225.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000225.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000225.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000226.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000226.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000226.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000227.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000227.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000227.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000228.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000228.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000228.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000229.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000229.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000229.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000230.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000230.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000230.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000231.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000231.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000231.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000232.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000232.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000232.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000233.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000233.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000233.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000234.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000234.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000234.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000235.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000235.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000235.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000236.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000236.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000236.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000237.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000237.toml
new file mode 100644
index 0000000000000000000000000000000000000000..c76a6d44e4d08a4a5508ebd279ecf7773d3efd0d
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000237.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -3.592924594681114
+
+[optitrack_to_camera_world]
+scale = 1.003105443979221
+rotation_matrix = [[0.05214089323015263, -0.000551548694679694, 0.9986395861606928], [-0.9986349355198015, 0.0030726476144248725, 0.05214234743468312], [-0.0030972265857520456, -0.9999951273034661, -0.0003905852039506963]]
+translation_m = [-2.5112498301915482, -2.358680274450362, 0.7620297961491435]
+
+[camera_world_to_optitrack]
+scale = 0.9969041699475759
+rotation_matrix = [[0.05214089323015263, -0.9986349355198015, -0.0030972265857520456], [-0.000551548694679694, 0.0030726476144248725, -0.9999951273034661], [0.9986395861606928, 0.05214234743468312, -0.0003905852039506963]]
+translation_m = [-2.215282101110371, 0.7655111477769307, 2.6229727601240795]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.000848251435960239, 0.00043323892529599067, 0.009998618189495843], [-0.00009079948721270793, 0.0008072719203813105, 0.006626876850846982], [0.000745101634702789, 0.000613119788632906, 0.008399896793886363], [-0.0006304212544505463, 0.00048304777619197193, 0.006923514289342256]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0704_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011659177104743155
+upper_sigma_m = 0.0012556839256870327
+threshold_m = 0.003677285561848381
+input_points = 29520
+kept_points = 23505
+dropped_points = 6015
+input_frames = 1968
+kept_frames = 1567
+dropped_frames = 401
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000238.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000238.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000238.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000239.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000239.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000239.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000240.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000240.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000240.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000241.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000241.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000241.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000242.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000242.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000242.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000243.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000243.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000243.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000244.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000244.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000244.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000245.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000245.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000245.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000246.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000246.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000246.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000247.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000247.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000247.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000248.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000248.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000248.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000249.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000249.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000249.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000250.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000250.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000250.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000251.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000251.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000251.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000252.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000252.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000252.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000253.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000253.toml
new file mode 100644
index 0000000000000000000000000000000000000000..e73ae83264ec6ddfd4e8385f09c40b2d04b2ce82
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000253.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.220556572903444
+
+[optitrack_to_camera_world]
+scale = 1.003812278732088
+rotation_matrix = [[-0.09299595732802961, -0.0014144003584832593, 0.9956654816715648], [-0.9956640180208188, 0.0023587640285335156, -0.09299246986125136], [-0.0022170113399113157, -0.9999962178447893, -0.0016276230629618785]]
+translation_m = [-2.4684595686781097, -1.926055811657798, 0.7681051871801525]
+
+[camera_world_to_optitrack]
+scale = 0.9962021995418274
+rotation_matrix = [[-0.09299595732802961, -0.9956640180208188, -0.0022170113399113157], [-0.0014144003584832593, 0.0023587640285335156, -0.9999962178447893], [0.9956654816715648, -0.09299246986125136, -0.0016276230629618785]]
+translation_m = [-2.1374099287589243, 0.7662329097281804, 2.2712428732343946]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006358086169353869, 0.0006568394637958367, 0.009238741813497677], [0.00019498492510987877, 0.00120720971068858, 0.005754739584016087], [0.0010413334350123785, 0.0010815599906805937, 0.008209947057143945], [-0.0004811398988432618, 0.0007776567037759756, 0.006723558874769413]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib2/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009718800957457293
+upper_sigma_m = 0.000692527960643066
+threshold_m = 0.0023569360170318616
+input_points = 29745
+kept_points = 22875
+dropped_points = 6870
+input_frames = 1983
+kept_frames = 1525
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000254.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000254.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ec167758f39f8059e0e8b59b3ce514dce92eea7e
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000254.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.172826790773936
+
+[optitrack_to_camera_world]
+scale = 1.0028547050076508
+rotation_matrix = [[0.32361846962197516, -0.0035381668905323594, 0.9461810437197447], [-0.9461846122765675, 0.0013275794894824036, 0.3236246545363012], [-0.002401168584619698, -0.9999928594283828, -0.0029181298248002565]]
+translation_m = [-1.6021824925891008, -3.0150026361216717, 0.7710821432455648]
+
+[camera_world_to_optitrack]
+scale = 0.9971534211352889
+rotation_matrix = [[0.32361846962197516, -0.9461846122765675, -0.002401168584619698], [-0.0035381668905323594, 0.0013275794894824036, -0.9999928594283828], [0.9461810437197447, 0.3236246545363012, -0.0029181298248002565]]
+translation_m = [-2.325762390204362, 0.7672203162122168, 2.486834827572475]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006349253530313349, 0.00024702669474088214, 0.009860656101493276], [0.00011462961615635078, 0.0005335223027643962, 0.006362157389393199], [0.0010508125852619341, 0.00027708248616421495, 0.008359329978191398], [-0.0003232407958659935, 0.00022393616754374786, 0.006804440679043652]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib4/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010888816309225391
+upper_sigma_m = 0.001190540393656451
+threshold_m = 0.003469962418235441
+input_points = 31650
+kept_points = 24780
+dropped_points = 6870
+input_frames = 2110
+kept_frames = 1652
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000255.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000255.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ec167758f39f8059e0e8b59b3ce514dce92eea7e
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000255.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.172826790773936
+
+[optitrack_to_camera_world]
+scale = 1.0028547050076508
+rotation_matrix = [[0.32361846962197516, -0.0035381668905323594, 0.9461810437197447], [-0.9461846122765675, 0.0013275794894824036, 0.3236246545363012], [-0.002401168584619698, -0.9999928594283828, -0.0029181298248002565]]
+translation_m = [-1.6021824925891008, -3.0150026361216717, 0.7710821432455648]
+
+[camera_world_to_optitrack]
+scale = 0.9971534211352889
+rotation_matrix = [[0.32361846962197516, -0.9461846122765675, -0.002401168584619698], [-0.0035381668905323594, 0.0013275794894824036, -0.9999928594283828], [0.9461810437197447, 0.3236246545363012, -0.0029181298248002565]]
+translation_m = [-2.325762390204362, 0.7672203162122168, 2.486834827572475]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006349253530313349, 0.00024702669474088214, 0.009860656101493276], [0.00011462961615635078, 0.0005335223027643962, 0.006362157389393199], [0.0010508125852619341, 0.00027708248616421495, 0.008359329978191398], [-0.0003232407958659935, 0.00022393616754374786, 0.006804440679043652]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib4/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010888816309225391
+upper_sigma_m = 0.001190540393656451
+threshold_m = 0.003469962418235441
+input_points = 31650
+kept_points = 24780
+dropped_points = 6870
+input_frames = 2110
+kept_frames = 1652
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000256.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000256.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ec167758f39f8059e0e8b59b3ce514dce92eea7e
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000256.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.172826790773936
+
+[optitrack_to_camera_world]
+scale = 1.0028547050076508
+rotation_matrix = [[0.32361846962197516, -0.0035381668905323594, 0.9461810437197447], [-0.9461846122765675, 0.0013275794894824036, 0.3236246545363012], [-0.002401168584619698, -0.9999928594283828, -0.0029181298248002565]]
+translation_m = [-1.6021824925891008, -3.0150026361216717, 0.7710821432455648]
+
+[camera_world_to_optitrack]
+scale = 0.9971534211352889
+rotation_matrix = [[0.32361846962197516, -0.9461846122765675, -0.002401168584619698], [-0.0035381668905323594, 0.0013275794894824036, -0.9999928594283828], [0.9461810437197447, 0.3236246545363012, -0.0029181298248002565]]
+translation_m = [-2.325762390204362, 0.7672203162122168, 2.486834827572475]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006349253530313349, 0.00024702669474088214, 0.009860656101493276], [0.00011462961615635078, 0.0005335223027643962, 0.006362157389393199], [0.0010508125852619341, 0.00027708248616421495, 0.008359329978191398], [-0.0003232407958659935, 0.00022393616754374786, 0.006804440679043652]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib4/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010888816309225391
+upper_sigma_m = 0.001190540393656451
+threshold_m = 0.003469962418235441
+input_points = 31650
+kept_points = 24780
+dropped_points = 6870
+input_frames = 2110
+kept_frames = 1652
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000257.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000257.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ec167758f39f8059e0e8b59b3ce514dce92eea7e
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000257.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.172826790773936
+
+[optitrack_to_camera_world]
+scale = 1.0028547050076508
+rotation_matrix = [[0.32361846962197516, -0.0035381668905323594, 0.9461810437197447], [-0.9461846122765675, 0.0013275794894824036, 0.3236246545363012], [-0.002401168584619698, -0.9999928594283828, -0.0029181298248002565]]
+translation_m = [-1.6021824925891008, -3.0150026361216717, 0.7710821432455648]
+
+[camera_world_to_optitrack]
+scale = 0.9971534211352889
+rotation_matrix = [[0.32361846962197516, -0.9461846122765675, -0.002401168584619698], [-0.0035381668905323594, 0.0013275794894824036, -0.9999928594283828], [0.9461810437197447, 0.3236246545363012, -0.0029181298248002565]]
+translation_m = [-2.325762390204362, 0.7672203162122168, 2.486834827572475]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006349253530313349, 0.00024702669474088214, 0.009860656101493276], [0.00011462961615635078, 0.0005335223027643962, 0.006362157389393199], [0.0010508125852619341, 0.00027708248616421495, 0.008359329978191398], [-0.0003232407958659935, 0.00022393616754374786, 0.006804440679043652]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib4/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010888816309225391
+upper_sigma_m = 0.001190540393656451
+threshold_m = 0.003469962418235441
+input_points = 31650
+kept_points = 24780
+dropped_points = 6870
+input_frames = 2110
+kept_frames = 1652
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000258.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000258.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ec167758f39f8059e0e8b59b3ce514dce92eea7e
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000258.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.172826790773936
+
+[optitrack_to_camera_world]
+scale = 1.0028547050076508
+rotation_matrix = [[0.32361846962197516, -0.0035381668905323594, 0.9461810437197447], [-0.9461846122765675, 0.0013275794894824036, 0.3236246545363012], [-0.002401168584619698, -0.9999928594283828, -0.0029181298248002565]]
+translation_m = [-1.6021824925891008, -3.0150026361216717, 0.7710821432455648]
+
+[camera_world_to_optitrack]
+scale = 0.9971534211352889
+rotation_matrix = [[0.32361846962197516, -0.9461846122765675, -0.002401168584619698], [-0.0035381668905323594, 0.0013275794894824036, -0.9999928594283828], [0.9461810437197447, 0.3236246545363012, -0.0029181298248002565]]
+translation_m = [-2.325762390204362, 0.7672203162122168, 2.486834827572475]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006349253530313349, 0.00024702669474088214, 0.009860656101493276], [0.00011462961615635078, 0.0005335223027643962, 0.006362157389393199], [0.0010508125852619341, 0.00027708248616421495, 0.008359329978191398], [-0.0003232407958659935, 0.00022393616754374786, 0.006804440679043652]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib4/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010888816309225391
+upper_sigma_m = 0.001190540393656451
+threshold_m = 0.003469962418235441
+input_points = 31650
+kept_points = 24780
+dropped_points = 6870
+input_frames = 2110
+kept_frames = 1652
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000259.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000259.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ec167758f39f8059e0e8b59b3ce514dce92eea7e
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000259.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.172826790773936
+
+[optitrack_to_camera_world]
+scale = 1.0028547050076508
+rotation_matrix = [[0.32361846962197516, -0.0035381668905323594, 0.9461810437197447], [-0.9461846122765675, 0.0013275794894824036, 0.3236246545363012], [-0.002401168584619698, -0.9999928594283828, -0.0029181298248002565]]
+translation_m = [-1.6021824925891008, -3.0150026361216717, 0.7710821432455648]
+
+[camera_world_to_optitrack]
+scale = 0.9971534211352889
+rotation_matrix = [[0.32361846962197516, -0.9461846122765675, -0.002401168584619698], [-0.0035381668905323594, 0.0013275794894824036, -0.9999928594283828], [0.9461810437197447, 0.3236246545363012, -0.0029181298248002565]]
+translation_m = [-2.325762390204362, 0.7672203162122168, 2.486834827572475]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006349253530313349, 0.00024702669474088214, 0.009860656101493276], [0.00011462961615635078, 0.0005335223027643962, 0.006362157389393199], [0.0010508125852619341, 0.00027708248616421495, 0.008359329978191398], [-0.0003232407958659935, 0.00022393616754374786, 0.006804440679043652]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib4/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010888816309225391
+upper_sigma_m = 0.001190540393656451
+threshold_m = 0.003469962418235441
+input_points = 31650
+kept_points = 24780
+dropped_points = 6870
+input_frames = 2110
+kept_frames = 1652
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000260.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000260.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ec167758f39f8059e0e8b59b3ce514dce92eea7e
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000260.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.172826790773936
+
+[optitrack_to_camera_world]
+scale = 1.0028547050076508
+rotation_matrix = [[0.32361846962197516, -0.0035381668905323594, 0.9461810437197447], [-0.9461846122765675, 0.0013275794894824036, 0.3236246545363012], [-0.002401168584619698, -0.9999928594283828, -0.0029181298248002565]]
+translation_m = [-1.6021824925891008, -3.0150026361216717, 0.7710821432455648]
+
+[camera_world_to_optitrack]
+scale = 0.9971534211352889
+rotation_matrix = [[0.32361846962197516, -0.9461846122765675, -0.002401168584619698], [-0.0035381668905323594, 0.0013275794894824036, -0.9999928594283828], [0.9461810437197447, 0.3236246545363012, -0.0029181298248002565]]
+translation_m = [-2.325762390204362, 0.7672203162122168, 2.486834827572475]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006349253530313349, 0.00024702669474088214, 0.009860656101493276], [0.00011462961615635078, 0.0005335223027643962, 0.006362157389393199], [0.0010508125852619341, 0.00027708248616421495, 0.008359329978191398], [-0.0003232407958659935, 0.00022393616754374786, 0.006804440679043652]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib4/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010888816309225391
+upper_sigma_m = 0.001190540393656451
+threshold_m = 0.003469962418235441
+input_points = 31650
+kept_points = 24780
+dropped_points = 6870
+input_frames = 2110
+kept_frames = 1652
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000261.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000261.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ec167758f39f8059e0e8b59b3ce514dce92eea7e
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000261.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.172826790773936
+
+[optitrack_to_camera_world]
+scale = 1.0028547050076508
+rotation_matrix = [[0.32361846962197516, -0.0035381668905323594, 0.9461810437197447], [-0.9461846122765675, 0.0013275794894824036, 0.3236246545363012], [-0.002401168584619698, -0.9999928594283828, -0.0029181298248002565]]
+translation_m = [-1.6021824925891008, -3.0150026361216717, 0.7710821432455648]
+
+[camera_world_to_optitrack]
+scale = 0.9971534211352889
+rotation_matrix = [[0.32361846962197516, -0.9461846122765675, -0.002401168584619698], [-0.0035381668905323594, 0.0013275794894824036, -0.9999928594283828], [0.9461810437197447, 0.3236246545363012, -0.0029181298248002565]]
+translation_m = [-2.325762390204362, 0.7672203162122168, 2.486834827572475]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006349253530313349, 0.00024702669474088214, 0.009860656101493276], [0.00011462961615635078, 0.0005335223027643962, 0.006362157389393199], [0.0010508125852619341, 0.00027708248616421495, 0.008359329978191398], [-0.0003232407958659935, 0.00022393616754374786, 0.006804440679043652]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib4/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010888816309225391
+upper_sigma_m = 0.001190540393656451
+threshold_m = 0.003469962418235441
+input_points = 31650
+kept_points = 24780
+dropped_points = 6870
+input_frames = 2110
+kept_frames = 1652
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000262.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000262.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ec167758f39f8059e0e8b59b3ce514dce92eea7e
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000262.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.172826790773936
+
+[optitrack_to_camera_world]
+scale = 1.0028547050076508
+rotation_matrix = [[0.32361846962197516, -0.0035381668905323594, 0.9461810437197447], [-0.9461846122765675, 0.0013275794894824036, 0.3236246545363012], [-0.002401168584619698, -0.9999928594283828, -0.0029181298248002565]]
+translation_m = [-1.6021824925891008, -3.0150026361216717, 0.7710821432455648]
+
+[camera_world_to_optitrack]
+scale = 0.9971534211352889
+rotation_matrix = [[0.32361846962197516, -0.9461846122765675, -0.002401168584619698], [-0.0035381668905323594, 0.0013275794894824036, -0.9999928594283828], [0.9461810437197447, 0.3236246545363012, -0.0029181298248002565]]
+translation_m = [-2.325762390204362, 0.7672203162122168, 2.486834827572475]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006349253530313349, 0.00024702669474088214, 0.009860656101493276], [0.00011462961615635078, 0.0005335223027643962, 0.006362157389393199], [0.0010508125852619341, 0.00027708248616421495, 0.008359329978191398], [-0.0003232407958659935, 0.00022393616754374786, 0.006804440679043652]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib4/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010888816309225391
+upper_sigma_m = 0.001190540393656451
+threshold_m = 0.003469962418235441
+input_points = 31650
+kept_points = 24780
+dropped_points = 6870
+input_frames = 2110
+kept_frames = 1652
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000263.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000263.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ec167758f39f8059e0e8b59b3ce514dce92eea7e
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000263.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.172826790773936
+
+[optitrack_to_camera_world]
+scale = 1.0028547050076508
+rotation_matrix = [[0.32361846962197516, -0.0035381668905323594, 0.9461810437197447], [-0.9461846122765675, 0.0013275794894824036, 0.3236246545363012], [-0.002401168584619698, -0.9999928594283828, -0.0029181298248002565]]
+translation_m = [-1.6021824925891008, -3.0150026361216717, 0.7710821432455648]
+
+[camera_world_to_optitrack]
+scale = 0.9971534211352889
+rotation_matrix = [[0.32361846962197516, -0.9461846122765675, -0.002401168584619698], [-0.0035381668905323594, 0.0013275794894824036, -0.9999928594283828], [0.9461810437197447, 0.3236246545363012, -0.0029181298248002565]]
+translation_m = [-2.325762390204362, 0.7672203162122168, 2.486834827572475]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006349253530313349, 0.00024702669474088214, 0.009860656101493276], [0.00011462961615635078, 0.0005335223027643962, 0.006362157389393199], [0.0010508125852619341, 0.00027708248616421495, 0.008359329978191398], [-0.0003232407958659935, 0.00022393616754374786, 0.006804440679043652]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib4/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010888816309225391
+upper_sigma_m = 0.001190540393656451
+threshold_m = 0.003469962418235441
+input_points = 31650
+kept_points = 24780
+dropped_points = 6870
+input_frames = 2110
+kept_frames = 1652
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000264.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000264.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ec167758f39f8059e0e8b59b3ce514dce92eea7e
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000264.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.172826790773936
+
+[optitrack_to_camera_world]
+scale = 1.0028547050076508
+rotation_matrix = [[0.32361846962197516, -0.0035381668905323594, 0.9461810437197447], [-0.9461846122765675, 0.0013275794894824036, 0.3236246545363012], [-0.002401168584619698, -0.9999928594283828, -0.0029181298248002565]]
+translation_m = [-1.6021824925891008, -3.0150026361216717, 0.7710821432455648]
+
+[camera_world_to_optitrack]
+scale = 0.9971534211352889
+rotation_matrix = [[0.32361846962197516, -0.9461846122765675, -0.002401168584619698], [-0.0035381668905323594, 0.0013275794894824036, -0.9999928594283828], [0.9461810437197447, 0.3236246545363012, -0.0029181298248002565]]
+translation_m = [-2.325762390204362, 0.7672203162122168, 2.486834827572475]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006349253530313349, 0.00024702669474088214, 0.009860656101493276], [0.00011462961615635078, 0.0005335223027643962, 0.006362157389393199], [0.0010508125852619341, 0.00027708248616421495, 0.008359329978191398], [-0.0003232407958659935, 0.00022393616754374786, 0.006804440679043652]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib4/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010888816309225391
+upper_sigma_m = 0.001190540393656451
+threshold_m = 0.003469962418235441
+input_points = 31650
+kept_points = 24780
+dropped_points = 6870
+input_frames = 2110
+kept_frames = 1652
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000265.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000265.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ec167758f39f8059e0e8b59b3ce514dce92eea7e
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000265.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.172826790773936
+
+[optitrack_to_camera_world]
+scale = 1.0028547050076508
+rotation_matrix = [[0.32361846962197516, -0.0035381668905323594, 0.9461810437197447], [-0.9461846122765675, 0.0013275794894824036, 0.3236246545363012], [-0.002401168584619698, -0.9999928594283828, -0.0029181298248002565]]
+translation_m = [-1.6021824925891008, -3.0150026361216717, 0.7710821432455648]
+
+[camera_world_to_optitrack]
+scale = 0.9971534211352889
+rotation_matrix = [[0.32361846962197516, -0.9461846122765675, -0.002401168584619698], [-0.0035381668905323594, 0.0013275794894824036, -0.9999928594283828], [0.9461810437197447, 0.3236246545363012, -0.0029181298248002565]]
+translation_m = [-2.325762390204362, 0.7672203162122168, 2.486834827572475]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006349253530313349, 0.00024702669474088214, 0.009860656101493276], [0.00011462961615635078, 0.0005335223027643962, 0.006362157389393199], [0.0010508125852619341, 0.00027708248616421495, 0.008359329978191398], [-0.0003232407958659935, 0.00022393616754374786, 0.006804440679043652]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib4/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010888816309225391
+upper_sigma_m = 0.001190540393656451
+threshold_m = 0.003469962418235441
+input_points = 31650
+kept_points = 24780
+dropped_points = 6870
+input_frames = 2110
+kept_frames = 1652
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000266.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000266.toml
new file mode 100644
index 0000000000000000000000000000000000000000..ec167758f39f8059e0e8b59b3ce514dce92eea7e
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000266.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -1.172826790773936
+
+[optitrack_to_camera_world]
+scale = 1.0028547050076508
+rotation_matrix = [[0.32361846962197516, -0.0035381668905323594, 0.9461810437197447], [-0.9461846122765675, 0.0013275794894824036, 0.3236246545363012], [-0.002401168584619698, -0.9999928594283828, -0.0029181298248002565]]
+translation_m = [-1.6021824925891008, -3.0150026361216717, 0.7710821432455648]
+
+[camera_world_to_optitrack]
+scale = 0.9971534211352889
+rotation_matrix = [[0.32361846962197516, -0.9461846122765675, -0.002401168584619698], [-0.0035381668905323594, 0.0013275794894824036, -0.9999928594283828], [0.9461810437197447, 0.3236246545363012, -0.0029181298248002565]]
+translation_m = [-2.325762390204362, 0.7672203162122168, 2.486834827572475]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0006349253530313349, 0.00024702669474088214, 0.009860656101493276], [0.00011462961615635078, 0.0005335223027643962, 0.006362157389393199], [0.0010508125852619341, 0.00027708248616421495, 0.008359329978191398], [-0.0003232407958659935, 0.00022393616754374786, 0.006804440679043652]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0706_calib4/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0010888816309225391
+upper_sigma_m = 0.001190540393656451
+threshold_m = 0.003469962418235441
+input_points = 31650
+kept_points = 24780
+dropped_points = 6870
+input_frames = 2110
+kept_frames = 1652
+dropped_frames = 458
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000267.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000267.toml
new file mode 100644
index 0000000000000000000000000000000000000000..f583a0b703654fabe3feffa527b9c0632cc4f8de
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000267.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -2.5436144534163083
+
+[optitrack_to_camera_world]
+scale = 1.002042275636836
+rotation_matrix = [[-0.05805652370668068, -0.001528324069272058, 0.9983121276838397], [-0.9983095590619518, 0.002825586121372133, -0.058052048616763594], [-0.002732094549609391, -0.9999948401309929, -0.0016897842353396733]]
+translation_m = [-2.4826162683251325, -2.0325447999982016, 0.7665771447877476]
+
+[camera_world_to_optitrack]
+scale = 0.9979618867521952
+rotation_matrix = [[-0.05805652370668068, -0.9983095590619518, -0.002732094549609391], [-0.001528324069272058, 0.002825586121372133, -0.9999948401309929], [0.9983121276838397, -0.058052048616763594, -0.0016897842353396733]]
+translation_m = [-2.1667215693843866, 0.7669557425029458, 2.3569144205840997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0007264658860479922, 0.00007631792167034223, 0.009756515830466696], [0.00001848764962080456, 0.0005504640712932772, 0.006200785714452399], [0.0008463844935940506, 0.00034217540306461457, 0.008644321478122075], [-0.000593162292987042, 0.00011115280403631106, 0.007166058340640677]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0707_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009283480753832949
+upper_sigma_m = 0.0008557091601569169
+threshold_m = 0.0026397663956971287
+input_points = 33630
+kept_points = 25110
+dropped_points = 8520
+input_frames = 2242
+kept_frames = 1674
+dropped_frames = 568
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000268.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000268.toml
new file mode 100644
index 0000000000000000000000000000000000000000..f583a0b703654fabe3feffa527b9c0632cc4f8de
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000268.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -2.5436144534163083
+
+[optitrack_to_camera_world]
+scale = 1.002042275636836
+rotation_matrix = [[-0.05805652370668068, -0.001528324069272058, 0.9983121276838397], [-0.9983095590619518, 0.002825586121372133, -0.058052048616763594], [-0.002732094549609391, -0.9999948401309929, -0.0016897842353396733]]
+translation_m = [-2.4826162683251325, -2.0325447999982016, 0.7665771447877476]
+
+[camera_world_to_optitrack]
+scale = 0.9979618867521952
+rotation_matrix = [[-0.05805652370668068, -0.9983095590619518, -0.002732094549609391], [-0.001528324069272058, 0.002825586121372133, -0.9999948401309929], [0.9983121276838397, -0.058052048616763594, -0.0016897842353396733]]
+translation_m = [-2.1667215693843866, 0.7669557425029458, 2.3569144205840997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0007264658860479922, 0.00007631792167034223, 0.009756515830466696], [0.00001848764962080456, 0.0005504640712932772, 0.006200785714452399], [0.0008463844935940506, 0.00034217540306461457, 0.008644321478122075], [-0.000593162292987042, 0.00011115280403631106, 0.007166058340640677]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0707_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009283480753832949
+upper_sigma_m = 0.0008557091601569169
+threshold_m = 0.0026397663956971287
+input_points = 33630
+kept_points = 25110
+dropped_points = 8520
+input_frames = 2242
+kept_frames = 1674
+dropped_frames = 568
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000269.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000269.toml
new file mode 100644
index 0000000000000000000000000000000000000000..f583a0b703654fabe3feffa527b9c0632cc4f8de
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000269.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -2.5436144534163083
+
+[optitrack_to_camera_world]
+scale = 1.002042275636836
+rotation_matrix = [[-0.05805652370668068, -0.001528324069272058, 0.9983121276838397], [-0.9983095590619518, 0.002825586121372133, -0.058052048616763594], [-0.002732094549609391, -0.9999948401309929, -0.0016897842353396733]]
+translation_m = [-2.4826162683251325, -2.0325447999982016, 0.7665771447877476]
+
+[camera_world_to_optitrack]
+scale = 0.9979618867521952
+rotation_matrix = [[-0.05805652370668068, -0.9983095590619518, -0.002732094549609391], [-0.001528324069272058, 0.002825586121372133, -0.9999948401309929], [0.9983121276838397, -0.058052048616763594, -0.0016897842353396733]]
+translation_m = [-2.1667215693843866, 0.7669557425029458, 2.3569144205840997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0007264658860479922, 0.00007631792167034223, 0.009756515830466696], [0.00001848764962080456, 0.0005504640712932772, 0.006200785714452399], [0.0008463844935940506, 0.00034217540306461457, 0.008644321478122075], [-0.000593162292987042, 0.00011115280403631106, 0.007166058340640677]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0707_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009283480753832949
+upper_sigma_m = 0.0008557091601569169
+threshold_m = 0.0026397663956971287
+input_points = 33630
+kept_points = 25110
+dropped_points = 8520
+input_frames = 2242
+kept_frames = 1674
+dropped_frames = 568
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000270.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000270.toml
new file mode 100644
index 0000000000000000000000000000000000000000..f583a0b703654fabe3feffa527b9c0632cc4f8de
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000270.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -2.5436144534163083
+
+[optitrack_to_camera_world]
+scale = 1.002042275636836
+rotation_matrix = [[-0.05805652370668068, -0.001528324069272058, 0.9983121276838397], [-0.9983095590619518, 0.002825586121372133, -0.058052048616763594], [-0.002732094549609391, -0.9999948401309929, -0.0016897842353396733]]
+translation_m = [-2.4826162683251325, -2.0325447999982016, 0.7665771447877476]
+
+[camera_world_to_optitrack]
+scale = 0.9979618867521952
+rotation_matrix = [[-0.05805652370668068, -0.9983095590619518, -0.002732094549609391], [-0.001528324069272058, 0.002825586121372133, -0.9999948401309929], [0.9983121276838397, -0.058052048616763594, -0.0016897842353396733]]
+translation_m = [-2.1667215693843866, 0.7669557425029458, 2.3569144205840997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0007264658860479922, 0.00007631792167034223, 0.009756515830466696], [0.00001848764962080456, 0.0005504640712932772, 0.006200785714452399], [0.0008463844935940506, 0.00034217540306461457, 0.008644321478122075], [-0.000593162292987042, 0.00011115280403631106, 0.007166058340640677]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0707_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009283480753832949
+upper_sigma_m = 0.0008557091601569169
+threshold_m = 0.0026397663956971287
+input_points = 33630
+kept_points = 25110
+dropped_points = 8520
+input_frames = 2242
+kept_frames = 1674
+dropped_frames = 568
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000271.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000271.toml
new file mode 100644
index 0000000000000000000000000000000000000000..f583a0b703654fabe3feffa527b9c0632cc4f8de
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000271.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -2.5436144534163083
+
+[optitrack_to_camera_world]
+scale = 1.002042275636836
+rotation_matrix = [[-0.05805652370668068, -0.001528324069272058, 0.9983121276838397], [-0.9983095590619518, 0.002825586121372133, -0.058052048616763594], [-0.002732094549609391, -0.9999948401309929, -0.0016897842353396733]]
+translation_m = [-2.4826162683251325, -2.0325447999982016, 0.7665771447877476]
+
+[camera_world_to_optitrack]
+scale = 0.9979618867521952
+rotation_matrix = [[-0.05805652370668068, -0.9983095590619518, -0.002732094549609391], [-0.001528324069272058, 0.002825586121372133, -0.9999948401309929], [0.9983121276838397, -0.058052048616763594, -0.0016897842353396733]]
+translation_m = [-2.1667215693843866, 0.7669557425029458, 2.3569144205840997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0007264658860479922, 0.00007631792167034223, 0.009756515830466696], [0.00001848764962080456, 0.0005504640712932772, 0.006200785714452399], [0.0008463844935940506, 0.00034217540306461457, 0.008644321478122075], [-0.000593162292987042, 0.00011115280403631106, 0.007166058340640677]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0707_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009283480753832949
+upper_sigma_m = 0.0008557091601569169
+threshold_m = 0.0026397663956971287
+input_points = 33630
+kept_points = 25110
+dropped_points = 8520
+input_frames = 2242
+kept_frames = 1674
+dropped_frames = 568
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000272.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000272.toml
new file mode 100644
index 0000000000000000000000000000000000000000..f583a0b703654fabe3feffa527b9c0632cc4f8de
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000272.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -2.5436144534163083
+
+[optitrack_to_camera_world]
+scale = 1.002042275636836
+rotation_matrix = [[-0.05805652370668068, -0.001528324069272058, 0.9983121276838397], [-0.9983095590619518, 0.002825586121372133, -0.058052048616763594], [-0.002732094549609391, -0.9999948401309929, -0.0016897842353396733]]
+translation_m = [-2.4826162683251325, -2.0325447999982016, 0.7665771447877476]
+
+[camera_world_to_optitrack]
+scale = 0.9979618867521952
+rotation_matrix = [[-0.05805652370668068, -0.9983095590619518, -0.002732094549609391], [-0.001528324069272058, 0.002825586121372133, -0.9999948401309929], [0.9983121276838397, -0.058052048616763594, -0.0016897842353396733]]
+translation_m = [-2.1667215693843866, 0.7669557425029458, 2.3569144205840997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0007264658860479922, 0.00007631792167034223, 0.009756515830466696], [0.00001848764962080456, 0.0005504640712932772, 0.006200785714452399], [0.0008463844935940506, 0.00034217540306461457, 0.008644321478122075], [-0.000593162292987042, 0.00011115280403631106, 0.007166058340640677]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0707_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009283480753832949
+upper_sigma_m = 0.0008557091601569169
+threshold_m = 0.0026397663956971287
+input_points = 33630
+kept_points = 25110
+dropped_points = 8520
+input_frames = 2242
+kept_frames = 1674
+dropped_frames = 568
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000273.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000273.toml
new file mode 100644
index 0000000000000000000000000000000000000000..f583a0b703654fabe3feffa527b9c0632cc4f8de
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000273.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -2.5436144534163083
+
+[optitrack_to_camera_world]
+scale = 1.002042275636836
+rotation_matrix = [[-0.05805652370668068, -0.001528324069272058, 0.9983121276838397], [-0.9983095590619518, 0.002825586121372133, -0.058052048616763594], [-0.002732094549609391, -0.9999948401309929, -0.0016897842353396733]]
+translation_m = [-2.4826162683251325, -2.0325447999982016, 0.7665771447877476]
+
+[camera_world_to_optitrack]
+scale = 0.9979618867521952
+rotation_matrix = [[-0.05805652370668068, -0.9983095590619518, -0.002732094549609391], [-0.001528324069272058, 0.002825586121372133, -0.9999948401309929], [0.9983121276838397, -0.058052048616763594, -0.0016897842353396733]]
+translation_m = [-2.1667215693843866, 0.7669557425029458, 2.3569144205840997]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0007264658860479922, 0.00007631792167034223, 0.009756515830466696], [0.00001848764962080456, 0.0005504640712932772, 0.006200785714452399], [0.0008463844935940506, 0.00034217540306461457, 0.008644321478122075], [-0.000593162292987042, 0.00011115280403631106, 0.007166058340640677]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0707_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0009283480753832949
+upper_sigma_m = 0.0008557091601569169
+threshold_m = 0.0026397663956971287
+input_points = 33630
+kept_points = 25110
+dropped_points = 8520
+input_frames = 2242
+kept_frames = 1674
+dropped_frames = 568
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000274.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000274.toml
new file mode 100644
index 0000000000000000000000000000000000000000..46c88c4018c68c2e350c0f90049ea339c45a0bff
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000274.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.693247176415218
+
+[optitrack_to_camera_world]
+scale = 1.001732275301222
+rotation_matrix = [[-0.9928859407714818, 0.019103354613926864, -0.11752689250049983], [0.11754478051378188, -0.00018766420048280778, -0.9930675653529898], [-0.018992977446843428, -0.9998174966585863, -0.002059170478925886]]
+translation_m = [-1.7433727260197664, 2.940112848362795, 0.7330718464466334]
+
+[camera_world_to_optitrack]
+scale = 0.9982707202873131
+rotation_matrix = [[-0.9928859407714818, 0.11754478051378188, -0.018992977446843428], [0.019103354613926864, -0.00018766420048280778, -0.9998174966585863], [-0.11752689250049983, -0.9930675653529898, -0.002059170478925886]]
+translation_m = [-2.05907508667355, 0.7654680782757108, 2.7116497252879093]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008879143228561549, 0.0005063711289695876, 0.0095070557418374], [0.0000063049881884918895, 0.000767407463590789, 0.005664742823361539], [0.0009026514137926546, 0.0006882768834649845, 0.008046088237008312], [-0.0007288611432772826, 0.0007158534695149434, 0.006898472650238258]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0707_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011228538336605985
+upper_sigma_m = 0.0007280756627372624
+threshold_m = 0.002579005159135123
+input_points = 27945
+kept_points = 21225
+dropped_points = 6720
+input_frames = 1863
+kept_frames = 1415
+dropped_frames = 448
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000275.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000275.toml
new file mode 100644
index 0000000000000000000000000000000000000000..6e2350dcb19a59f90a34712d9da4917c307989d8
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000275.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.693247176415218
+
+[optitrack_to_camera_world]
+scale = 1.001732275301222
+rotation_matrix = [[-0.9928859407714818, 0.019103354613926864, -0.11752689250049983], [0.11754478051378188, -0.00018766420048280778, -0.9930675653529898], [-0.018992977446843428, -0.9998174966585863, -0.002059170478925886]]
+translation_m = [-1.7433727260197664, 2.940112848362795, 0.7330718464466334]
+
+[camera_world_to_optitrack]
+scale = 0.9982707202873131
+rotation_matrix = [[-0.9928859407714818, 0.11754478051378188, -0.018992977446843428], [0.019103354613926864, -0.00018766420048280778, -0.9998174966585863], [-0.11752689250049983, -0.9930675653529898, -0.002059170478925886]]
+translation_m = [-2.05907508667355, 0.7654680782757108, 2.7116497252879093]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008879143228561549, 0.0005063711289695876, 0.0095070557418374], [0.0000063049881884918895, 0.000767407463590789, 0.005664742823361539], [0.0009026514137926546, 0.0006882768834649845, 0.008046088237008312], [-0.0007288611432772826, 0.0007158534695149434, 0.006898472650238258]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0707calib2_real/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011228538336605985
+upper_sigma_m = 0.0007280756627372624
+threshold_m = 0.002579005159135123
+input_points = 27945
+kept_points = 21225
+dropped_points = 6720
+input_frames = 1863
+kept_frames = 1415
+dropped_frames = 448
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000276.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000276.toml
new file mode 100644
index 0000000000000000000000000000000000000000..46c88c4018c68c2e350c0f90049ea339c45a0bff
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000276.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.693247176415218
+
+[optitrack_to_camera_world]
+scale = 1.001732275301222
+rotation_matrix = [[-0.9928859407714818, 0.019103354613926864, -0.11752689250049983], [0.11754478051378188, -0.00018766420048280778, -0.9930675653529898], [-0.018992977446843428, -0.9998174966585863, -0.002059170478925886]]
+translation_m = [-1.7433727260197664, 2.940112848362795, 0.7330718464466334]
+
+[camera_world_to_optitrack]
+scale = 0.9982707202873131
+rotation_matrix = [[-0.9928859407714818, 0.11754478051378188, -0.018992977446843428], [0.019103354613926864, -0.00018766420048280778, -0.9998174966585863], [-0.11752689250049983, -0.9930675653529898, -0.002059170478925886]]
+translation_m = [-2.05907508667355, 0.7654680782757108, 2.7116497252879093]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008879143228561549, 0.0005063711289695876, 0.0095070557418374], [0.0000063049881884918895, 0.000767407463590789, 0.005664742823361539], [0.0009026514137926546, 0.0006882768834649845, 0.008046088237008312], [-0.0007288611432772826, 0.0007158534695149434, 0.006898472650238258]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0707_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011228538336605985
+upper_sigma_m = 0.0007280756627372624
+threshold_m = 0.002579005159135123
+input_points = 27945
+kept_points = 21225
+dropped_points = 6720
+input_frames = 1863
+kept_frames = 1415
+dropped_frames = 448
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000277.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000277.toml
new file mode 100644
index 0000000000000000000000000000000000000000..46c88c4018c68c2e350c0f90049ea339c45a0bff
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000277.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -4.693247176415218
+
+[optitrack_to_camera_world]
+scale = 1.001732275301222
+rotation_matrix = [[-0.9928859407714818, 0.019103354613926864, -0.11752689250049983], [0.11754478051378188, -0.00018766420048280778, -0.9930675653529898], [-0.018992977446843428, -0.9998174966585863, -0.002059170478925886]]
+translation_m = [-1.7433727260197664, 2.940112848362795, 0.7330718464466334]
+
+[camera_world_to_optitrack]
+scale = 0.9982707202873131
+rotation_matrix = [[-0.9928859407714818, 0.11754478051378188, -0.018992977446843428], [0.019103354613926864, -0.00018766420048280778, -0.9998174966585863], [-0.11752689250049983, -0.9930675653529898, -0.002059170478925886]]
+translation_m = [-2.05907508667355, 0.7654680782757108, 2.7116497252879093]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [1, 3, 0, 2]
+corner_local_offsets_m = [[-0.0008879143228561549, 0.0005063711289695876, 0.0095070557418374], [0.0000063049881884918895, 0.000767407463590789, 0.005664742823361539], [0.0009026514137926546, 0.0006882768834649845, 0.008046088237008312], [-0.0007288611432772826, 0.0007158534695149434, 0.006898472650238258]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0707_calib1/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.0011228538336605985
+upper_sigma_m = 0.0007280756627372624
+threshold_m = 0.002579005159135123
+input_points = 27945
+kept_points = 21225
+dropped_points = 6720
+input_frames = 1863
+kept_frames = 1415
+dropped_frames = 448
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000278.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000278.toml
new file mode 100644
index 0000000000000000000000000000000000000000..21524692495c6be90db734eb66b7175046b953e1
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000278.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -15.777032849247206
+
+[optitrack_to_camera_world]
+scale = 1.0017241100987018
+rotation_matrix = [[0.02307355039082265, -0.0009380104207674865, 0.9997333301480016], [-0.999733751172713, 0.00017343746501693552, 0.02307372283749374], [-0.00019503460694127235, -0.9999995450278447, -0.0009337588585038451]]
+translation_m = [-2.41686254998584, -2.2520929457663637, 0.7710747781861745]
+
+[camera_world_to_optitrack]
+scale = 0.9982788573407384
+rotation_matrix = [[0.02307355039082265, -0.999733751172713, -0.00019503460694127235], [-0.0009380104207674865, 0.00017343746501693552, -0.9999995450278447], [0.9997333301480016, 0.02307372283749374, -0.0009337588585038451]]
+translation_m = [-2.1917984407335487, 0.7678740829417365, 2.464652879028396]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [0, 2, 1, 3]
+corner_local_offsets_m = [[-0.0011374859607213047, 0.00009477041401291795, 0.008172188231128096], [0.00012876382323764955, 0.0007751808071009356, 0.005738005999018578], [0.0009658359219408955, 0.0010738020816406183, 0.007287082511842188], [-0.0007786700808185452, 0.0007701543066266335, 0.006671114233996716]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0708_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.000761499574679924
+upper_sigma_m = 0.0005405052820108444
+threshold_m = 0.0018425101387016128
+input_points = 28215
+kept_points = 20550
+dropped_points = 7665
+input_frames = 1881
+kept_frames = 1370
+dropped_frames = 511
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000279.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000279.toml
new file mode 100644
index 0000000000000000000000000000000000000000..21524692495c6be90db734eb66b7175046b953e1
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000279.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -15.777032849247206
+
+[optitrack_to_camera_world]
+scale = 1.0017241100987018
+rotation_matrix = [[0.02307355039082265, -0.0009380104207674865, 0.9997333301480016], [-0.999733751172713, 0.00017343746501693552, 0.02307372283749374], [-0.00019503460694127235, -0.9999995450278447, -0.0009337588585038451]]
+translation_m = [-2.41686254998584, -2.2520929457663637, 0.7710747781861745]
+
+[camera_world_to_optitrack]
+scale = 0.9982788573407384
+rotation_matrix = [[0.02307355039082265, -0.999733751172713, -0.00019503460694127235], [-0.0009380104207674865, 0.00017343746501693552, -0.9999995450278447], [0.9997333301480016, 0.02307372283749374, -0.0009337588585038451]]
+translation_m = [-2.1917984407335487, 0.7678740829417365, 2.464652879028396]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [0, 2, 1, 3]
+corner_local_offsets_m = [[-0.0011374859607213047, 0.00009477041401291795, 0.008172188231128096], [0.00012876382323764955, 0.0007751808071009356, 0.005738005999018578], [0.0009658359219408955, 0.0010738020816406183, 0.007287082511842188], [-0.0007786700808185452, 0.0007701543066266335, 0.006671114233996716]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0708_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.000761499574679924
+upper_sigma_m = 0.0005405052820108444
+threshold_m = 0.0018425101387016128
+input_points = 28215
+kept_points = 20550
+dropped_points = 7665
+input_frames = 1881
+kept_frames = 1370
+dropped_frames = 511
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000280.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000280.toml
new file mode 100644
index 0000000000000000000000000000000000000000..21524692495c6be90db734eb66b7175046b953e1
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000280.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -15.777032849247206
+
+[optitrack_to_camera_world]
+scale = 1.0017241100987018
+rotation_matrix = [[0.02307355039082265, -0.0009380104207674865, 0.9997333301480016], [-0.999733751172713, 0.00017343746501693552, 0.02307372283749374], [-0.00019503460694127235, -0.9999995450278447, -0.0009337588585038451]]
+translation_m = [-2.41686254998584, -2.2520929457663637, 0.7710747781861745]
+
+[camera_world_to_optitrack]
+scale = 0.9982788573407384
+rotation_matrix = [[0.02307355039082265, -0.999733751172713, -0.00019503460694127235], [-0.0009380104207674865, 0.00017343746501693552, -0.9999995450278447], [0.9997333301480016, 0.02307372283749374, -0.0009337588585038451]]
+translation_m = [-2.1917984407335487, 0.7678740829417365, 2.464652879028396]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [0, 2, 1, 3]
+corner_local_offsets_m = [[-0.0011374859607213047, 0.00009477041401291795, 0.008172188231128096], [0.00012876382323764955, 0.0007751808071009356, 0.005738005999018578], [0.0009658359219408955, 0.0010738020816406183, 0.007287082511842188], [-0.0007786700808185452, 0.0007701543066266335, 0.006671114233996716]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0708_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.000761499574679924
+upper_sigma_m = 0.0005405052820108444
+threshold_m = 0.0018425101387016128
+input_points = 28215
+kept_points = 20550
+dropped_points = 7665
+input_frames = 1881
+kept_frames = 1370
+dropped_frames = 511
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000281.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000281.toml
new file mode 100644
index 0000000000000000000000000000000000000000..21524692495c6be90db734eb66b7175046b953e1
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000281.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -15.777032849247206
+
+[optitrack_to_camera_world]
+scale = 1.0017241100987018
+rotation_matrix = [[0.02307355039082265, -0.0009380104207674865, 0.9997333301480016], [-0.999733751172713, 0.00017343746501693552, 0.02307372283749374], [-0.00019503460694127235, -0.9999995450278447, -0.0009337588585038451]]
+translation_m = [-2.41686254998584, -2.2520929457663637, 0.7710747781861745]
+
+[camera_world_to_optitrack]
+scale = 0.9982788573407384
+rotation_matrix = [[0.02307355039082265, -0.999733751172713, -0.00019503460694127235], [-0.0009380104207674865, 0.00017343746501693552, -0.9999995450278447], [0.9997333301480016, 0.02307372283749374, -0.0009337588585038451]]
+translation_m = [-2.1917984407335487, 0.7678740829417365, 2.464652879028396]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [0, 2, 1, 3]
+corner_local_offsets_m = [[-0.0011374859607213047, 0.00009477041401291795, 0.008172188231128096], [0.00012876382323764955, 0.0007751808071009356, 0.005738005999018578], [0.0009658359219408955, 0.0010738020816406183, 0.007287082511842188], [-0.0007786700808185452, 0.0007701543066266335, 0.006671114233996716]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0708_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.000761499574679924
+upper_sigma_m = 0.0005405052820108444
+threshold_m = 0.0018425101387016128
+input_points = 28215
+kept_points = 20550
+dropped_points = 7665
+input_frames = 1881
+kept_frames = 1370
+dropped_frames = 511
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000282.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000282.toml
new file mode 100644
index 0000000000000000000000000000000000000000..21524692495c6be90db734eb66b7175046b953e1
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000282.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -15.777032849247206
+
+[optitrack_to_camera_world]
+scale = 1.0017241100987018
+rotation_matrix = [[0.02307355039082265, -0.0009380104207674865, 0.9997333301480016], [-0.999733751172713, 0.00017343746501693552, 0.02307372283749374], [-0.00019503460694127235, -0.9999995450278447, -0.0009337588585038451]]
+translation_m = [-2.41686254998584, -2.2520929457663637, 0.7710747781861745]
+
+[camera_world_to_optitrack]
+scale = 0.9982788573407384
+rotation_matrix = [[0.02307355039082265, -0.999733751172713, -0.00019503460694127235], [-0.0009380104207674865, 0.00017343746501693552, -0.9999995450278447], [0.9997333301480016, 0.02307372283749374, -0.0009337588585038451]]
+translation_m = [-2.1917984407335487, 0.7678740829417365, 2.464652879028396]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [0, 2, 1, 3]
+corner_local_offsets_m = [[-0.0011374859607213047, 0.00009477041401291795, 0.008172188231128096], [0.00012876382323764955, 0.0007751808071009356, 0.005738005999018578], [0.0009658359219408955, 0.0010738020816406183, 0.007287082511842188], [-0.0007786700808185452, 0.0007701543066266335, 0.006671114233996716]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0708_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.000761499574679924
+upper_sigma_m = 0.0005405052820108444
+threshold_m = 0.0018425101387016128
+input_points = 28215
+kept_points = 20550
+dropped_points = 7665
+input_frames = 1881
+kept_frames = 1370
+dropped_frames = 511
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000283.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000283.toml
new file mode 100644
index 0000000000000000000000000000000000000000..21524692495c6be90db734eb66b7175046b953e1
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000283.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -15.777032849247206
+
+[optitrack_to_camera_world]
+scale = 1.0017241100987018
+rotation_matrix = [[0.02307355039082265, -0.0009380104207674865, 0.9997333301480016], [-0.999733751172713, 0.00017343746501693552, 0.02307372283749374], [-0.00019503460694127235, -0.9999995450278447, -0.0009337588585038451]]
+translation_m = [-2.41686254998584, -2.2520929457663637, 0.7710747781861745]
+
+[camera_world_to_optitrack]
+scale = 0.9982788573407384
+rotation_matrix = [[0.02307355039082265, -0.999733751172713, -0.00019503460694127235], [-0.0009380104207674865, 0.00017343746501693552, -0.9999995450278447], [0.9997333301480016, 0.02307372283749374, -0.0009337588585038451]]
+translation_m = [-2.1917984407335487, 0.7678740829417365, 2.464652879028396]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [0, 2, 1, 3]
+corner_local_offsets_m = [[-0.0011374859607213047, 0.00009477041401291795, 0.008172188231128096], [0.00012876382323764955, 0.0007751808071009356, 0.005738005999018578], [0.0009658359219408955, 0.0010738020816406183, 0.007287082511842188], [-0.0007786700808185452, 0.0007701543066266335, 0.006671114233996716]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0708_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.000761499574679924
+upper_sigma_m = 0.0005405052820108444
+threshold_m = 0.0018425101387016128
+input_points = 28215
+kept_points = 20550
+dropped_points = 7665
+input_frames = 1881
+kept_frames = 1370
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diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000284.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000284.toml
new file mode 100644
index 0000000000000000000000000000000000000000..21524692495c6be90db734eb66b7175046b953e1
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000284.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -15.777032849247206
+
+[optitrack_to_camera_world]
+scale = 1.0017241100987018
+rotation_matrix = [[0.02307355039082265, -0.0009380104207674865, 0.9997333301480016], [-0.999733751172713, 0.00017343746501693552, 0.02307372283749374], [-0.00019503460694127235, -0.9999995450278447, -0.0009337588585038451]]
+translation_m = [-2.41686254998584, -2.2520929457663637, 0.7710747781861745]
+
+[camera_world_to_optitrack]
+scale = 0.9982788573407384
+rotation_matrix = [[0.02307355039082265, -0.999733751172713, -0.00019503460694127235], [-0.0009380104207674865, 0.00017343746501693552, -0.9999995450278447], [0.9997333301480016, 0.02307372283749374, -0.0009337588585038451]]
+translation_m = [-2.1917984407335487, 0.7678740829417365, 2.464652879028396]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [0, 2, 1, 3]
+corner_local_offsets_m = [[-0.0011374859607213047, 0.00009477041401291795, 0.008172188231128096], [0.00012876382323764955, 0.0007751808071009356, 0.005738005999018578], [0.0009658359219408955, 0.0010738020816406183, 0.007287082511842188], [-0.0007786700808185452, 0.0007701543066266335, 0.006671114233996716]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0708_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.000761499574679924
+upper_sigma_m = 0.0005405052820108444
+threshold_m = 0.0018425101387016128
+input_points = 28215
+kept_points = 20550
+dropped_points = 7665
+input_frames = 1881
+kept_frames = 1370
+dropped_frames = 511
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000285.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000285.toml
new file mode 100644
index 0000000000000000000000000000000000000000..21524692495c6be90db734eb66b7175046b953e1
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000285.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -15.777032849247206
+
+[optitrack_to_camera_world]
+scale = 1.0017241100987018
+rotation_matrix = [[0.02307355039082265, -0.0009380104207674865, 0.9997333301480016], [-0.999733751172713, 0.00017343746501693552, 0.02307372283749374], [-0.00019503460694127235, -0.9999995450278447, -0.0009337588585038451]]
+translation_m = [-2.41686254998584, -2.2520929457663637, 0.7710747781861745]
+
+[camera_world_to_optitrack]
+scale = 0.9982788573407384
+rotation_matrix = [[0.02307355039082265, -0.999733751172713, -0.00019503460694127235], [-0.0009380104207674865, 0.00017343746501693552, -0.9999995450278447], [0.9997333301480016, 0.02307372283749374, -0.0009337588585038451]]
+translation_m = [-2.1917984407335487, 0.7678740829417365, 2.464652879028396]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [0, 2, 1, 3]
+corner_local_offsets_m = [[-0.0011374859607213047, 0.00009477041401291795, 0.008172188231128096], [0.00012876382323764955, 0.0007751808071009356, 0.005738005999018578], [0.0009658359219408955, 0.0010738020816406183, 0.007287082511842188], [-0.0007786700808185452, 0.0007701543066266335, 0.006671114233996716]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0708_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.000761499574679924
+upper_sigma_m = 0.0005405052820108444
+threshold_m = 0.0018425101387016128
+input_points = 28215
+kept_points = 20550
+dropped_points = 7665
+input_frames = 1881
+kept_frames = 1370
+dropped_frames = 511
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000286.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000286.toml
new file mode 100644
index 0000000000000000000000000000000000000000..21524692495c6be90db734eb66b7175046b953e1
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000286.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -15.777032849247206
+
+[optitrack_to_camera_world]
+scale = 1.0017241100987018
+rotation_matrix = [[0.02307355039082265, -0.0009380104207674865, 0.9997333301480016], [-0.999733751172713, 0.00017343746501693552, 0.02307372283749374], [-0.00019503460694127235, -0.9999995450278447, -0.0009337588585038451]]
+translation_m = [-2.41686254998584, -2.2520929457663637, 0.7710747781861745]
+
+[camera_world_to_optitrack]
+scale = 0.9982788573407384
+rotation_matrix = [[0.02307355039082265, -0.999733751172713, -0.00019503460694127235], [-0.0009380104207674865, 0.00017343746501693552, -0.9999995450278447], [0.9997333301480016, 0.02307372283749374, -0.0009337588585038451]]
+translation_m = [-2.1917984407335487, 0.7678740829417365, 2.464652879028396]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [0, 2, 1, 3]
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+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0708_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.000761499574679924
+upper_sigma_m = 0.0005405052820108444
+threshold_m = 0.0018425101387016128
+input_points = 28215
+kept_points = 20550
+dropped_points = 7665
+input_frames = 1881
+kept_frames = 1370
+dropped_frames = 511
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000287.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000287.toml
new file mode 100644
index 0000000000000000000000000000000000000000..21524692495c6be90db734eb66b7175046b953e1
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000287.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -15.777032849247206
+
+[optitrack_to_camera_world]
+scale = 1.0017241100987018
+rotation_matrix = [[0.02307355039082265, -0.0009380104207674865, 0.9997333301480016], [-0.999733751172713, 0.00017343746501693552, 0.02307372283749374], [-0.00019503460694127235, -0.9999995450278447, -0.0009337588585038451]]
+translation_m = [-2.41686254998584, -2.2520929457663637, 0.7710747781861745]
+
+[camera_world_to_optitrack]
+scale = 0.9982788573407384
+rotation_matrix = [[0.02307355039082265, -0.999733751172713, -0.00019503460694127235], [-0.0009380104207674865, 0.00017343746501693552, -0.9999995450278447], [0.9997333301480016, 0.02307372283749374, -0.0009337588585038451]]
+translation_m = [-2.1917984407335487, 0.7678740829417365, 2.464652879028396]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [0, 2, 1, 3]
+corner_local_offsets_m = [[-0.0011374859607213047, 0.00009477041401291795, 0.008172188231128096], [0.00012876382323764955, 0.0007751808071009356, 0.005738005999018578], [0.0009658359219408955, 0.0010738020816406183, 0.007287082511842188], [-0.0007786700808185452, 0.0007701543066266335, 0.006671114233996716]]
+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0708_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.000761499574679924
+upper_sigma_m = 0.0005405052820108444
+threshold_m = 0.0018425101387016128
+input_points = 28215
+kept_points = 20550
+dropped_points = 7665
+input_frames = 1881
+kept_frames = 1370
+dropped_frames = 511
diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000288.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000288.toml
new file mode 100644
index 0000000000000000000000000000000000000000..21524692495c6be90db734eb66b7175046b953e1
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000288.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -15.777032849247206
+
+[optitrack_to_camera_world]
+scale = 1.0017241100987018
+rotation_matrix = [[0.02307355039082265, -0.0009380104207674865, 0.9997333301480016], [-0.999733751172713, 0.00017343746501693552, 0.02307372283749374], [-0.00019503460694127235, -0.9999995450278447, -0.0009337588585038451]]
+translation_m = [-2.41686254998584, -2.2520929457663637, 0.7710747781861745]
+
+[camera_world_to_optitrack]
+scale = 0.9982788573407384
+rotation_matrix = [[0.02307355039082265, -0.999733751172713, -0.00019503460694127235], [-0.0009380104207674865, 0.00017343746501693552, -0.9999995450278447], [0.9997333301480016, 0.02307372283749374, -0.0009337588585038451]]
+translation_m = [-2.1917984407335487, 0.7678740829417365, 2.464652879028396]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [0, 2, 1, 3]
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+
+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0708_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.000761499574679924
+upper_sigma_m = 0.0005405052820108444
+threshold_m = 0.0018425101387016128
+input_points = 28215
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+dropped_points = 7665
+input_frames = 1881
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diff --git a/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000289.toml b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000289.toml
new file mode 100644
index 0000000000000000000000000000000000000000..21524692495c6be90db734eb66b7175046b953e1
--- /dev/null
+++ b/Table-scale/HOI/raw/optitrack_to_camera_world_alignment/take-000289.toml
@@ -0,0 +1,39 @@
+schema_version = 1
+alignment_model = "optitrack_to_camera_world_with_12d_board_marker_offsets"
+time_offset_seconds = -15.777032849247206
+
+[optitrack_to_camera_world]
+scale = 1.0017241100987018
+rotation_matrix = [[0.02307355039082265, -0.0009380104207674865, 0.9997333301480016], [-0.999733751172713, 0.00017343746501693552, 0.02307372283749374], [-0.00019503460694127235, -0.9999995450278447, -0.0009337588585038451]]
+translation_m = [-2.41686254998584, -2.2520929457663637, 0.7710747781861745]
+
+[camera_world_to_optitrack]
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+translation_m = [-2.1917984407335487, 0.7678740829417365, 2.464652879028396]
+
+[calibration_board_marker_correction]
+corner_names = ["p00", "p10", "p11", "p01"]
+raw_marker_indices_for_corners = [0, 2, 1, 3]
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+[calibration_board]
+source = "/home/yhliu/calibration_core_package/runs/0708_calib/workspace/calibration/targets/extrinsic_charuco.toml"
+square_size_m = 0.06
+board_squares_cols_rows = [6, 4]
+board_size_m = [0.36, 0.24]
+inner_grid_cols_rows = [5, 3]
+expected_point_ids = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
+
+[outlier_filter]
+mode = "point_median_upper_sigma"
+sigma_multiplier = 2.0
+median_error_m = 0.000761499574679924
+upper_sigma_m = 0.0005405052820108444
+threshold_m = 0.0018425101387016128
+input_points = 28215
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+input_frames = 1881
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