chore(metadata): update beads and sisyphus planning artifacts

py_workspace/calibrate_extrinsics.py

@@ -29,8 +29,21 @@ from aruco.alignment import (
     detect_ground_face,
     rotation_align_vectors,
     apply_alignment_to_pose,
+    Vec3,
+    Mat44,
 )
 from loguru import logger
+from jaxtyping import Float
+from typing import TYPE_CHECKING
+
+# Type aliases
+if TYPE_CHECKING:
+    Mat33 = Float[np.ndarray, "3 3"]
+    CornersNC = Float[np.ndarray, "N 3"]
+else:
+    Mat33 = np.ndarray
+    CornersNC = np.ndarray
+
 
 ARUCO_DICT_MAP = {
     "DICT_4X4_50": cv2.aruco.DICT_4X4_50,
@@ -590,11 +603,11 @@ def main(
                 )
 
         if ground_normal is not None:
-            R_align = rotation_align_vectors(ground_normal, np.array([0, 1, 0]))
+            R_align: Mat33 = rotation_align_vectors(ground_normal, np.array([0, 1, 0]))
             logger.info(f"Computed alignment rotation for face '{target_face}'")
 
             for serial, data in results.items():
-                T_mean = np.fromstring(data["pose"], sep=" ").reshape(4, 4)
+                T_mean: Mat44 = np.fromstring(data["pose"], sep=" ").reshape(4, 4)
                 T_aligned = apply_alignment_to_pose(T_mean, R_align)
                 data["pose"] = " ".join(f"{x:.6f}" for x in T_aligned.flatten())
                 logger.debug(f"Applied alignment to camera {serial}")