{
  "units": {"length": "mm", "angle": "deg"},
  "links": [],
  "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": {}
  },
  "vision_config": {
    "aruco_dict": "DICT_4X4_250",
    "marker_size_mm": 20.0
  }
}