{
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    "origin": "Reference mixer base centre on the tabletop; simulation workcell origin XY=(0,0)",
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    "pose_convention": "Camera-to-world quaternion XYZW; ROS/OpenCV camera +X right, +Y down, +Z forward",
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    "lens_distortion": "Unestimated; zero-distortion pinhole approximation, rectification unknown",
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    "landmark_rmse_scope": "In-sample proxy landmark fit only; not metric pose accuracy or full-scene agreement",
    "focal_distance_ambiguity": "Inspect focal_sensitivity.json; focal and distance are weakly constrained by these clips"
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