# API reference — Calibration

Ground-truth calibration exports for simulator vendors (scoped license, validation use only).

## POST /v1/calibration/exports

Export calibration data

Ground-truth channels (`gt/object_poses`, `commanded_vs_executed`, `contact_events`) for simulator recalibration. Licensed under `sim-calibration-v1`: validation use, no policy training.

| Parameter | In | Type | Required | Description |
| --- | --- | --- | --- | --- |
| embodiment | body | `string` | yes |  |
| scenes | body | `array<string>` | yes |  |
| channels | body | `array<gt/object_poses \| commanded_vs_executed \| contact_events>` | yes |  |
| license | body | `string` | yes | Scoped: validation use, no policy training. |

Example request:

```json
{
 "embodiment": "g1-edu-pro",
 "scenes": [
  "kitchen-std@v1.2"
 ],
 "channels": [
  "gt/object_poses",
  "commanded_vs_executed",
  "contact_events"
 ],
 "license": "sim-calibration-v1"
}
```

Example response (202):

```json
{
 "object": "export",
 "id": "exp_9017",
 "format": "mcap-bundle",
 "status": "preparing",
 "download_url": null
}
```