{
  "_comment": "Kopiere deine robot.json hierher und benenne sie in robot.json um.",
  "_comment2": "Die Pipeline liest nur: links, pose_estimation, vision_config, units.",
  "_comment3": "Alle anderen Abschnitte (renderingInfo, robot_test_poses) werden ignoriert.",
  "units": { "length": "mm", "angle": "deg" },
  "links": [],
  "vision_config": { "aruco_dict": "DICT_4X4_250" },
  "pose_estimation": {
    "method": "hybrid",
    "marker_observation": "corner_pose",
    "use_normals": true,
    "normal_weight": 100.0,
    "robust_loss": "huber",
    "huber_delta_mm": 8.0,
    "max_iterations": 200,
    "min_cameras_per_marker": 2,
    "per_link_method": {}
  }
}