diff --git a/public/calculateActions.js b/public/calculateActions.js
index 8fe4f6f..79c1e69 100755
--- a/public/calculateActions.js
+++ b/public/calculateActions.js
@@ -468,7 +468,7 @@ async function calculate() {
       angleZCandidates.push({
         source: "row218-row219.relative",
         valueRad: lowerArmAngle,
-        weight: 1
+        weight: 200     // Hohes gewicht, da ich sicher bin, dass es korrekt ist
       });
     }
 
diff --git a/test/calculateAction.02_FetchDifferentCSV.test.js b/test/calculateAction.02_FetchDifferentCSV.test.js
index 506a482..212662c 100755
--- a/test/calculateAction.02_FetchDifferentCSV.test.js
+++ b/test/calculateAction.02_FetchDifferentCSV.test.js
@@ -42,13 +42,12 @@ describe("calculate() Snapshot Tests", () => {
 
         snapshotFile = "snapshot_video0_1774805028717_two_cam.csv";
 
-        await calculate();
+        var result = await calculate();
 
         expect(global.fetch).toHaveBeenCalledWith("/api/latest-snapshot");
 
-        const logValue = document.getElementById("analysis-log").value;
-        expect(logValue).toMatch(/Starte Berechnung/);
-        expect(logValue).toMatch(/CSV-Daten geladen/);
+        // Problem: (zMotor = -137.28° = -2.3960 rad) aus roll_deg von ID = 226
+        //console.log("Berechnungsergebnis:", result.features["forearm.angleZ"].valueDeg);
     });
 
     
@@ -60,10 +59,40 @@ describe("calculate() Snapshot Tests", () => {
 
         expect(global.fetch).toHaveBeenCalledWith("/api/latest-snapshot");
 
-        const logValue = document.getElementById("analysis-log").value;
-        console.log("Log Value:", logValue);
+        //const logValue = document.getElementById("analysis-log").value;
+        //console.log("Log Value:", logValue);
         //expect(logValue).toMatch(/Starte Berechnung/);
         //expect(logValue).toMatch(/CSV-Daten geladen/);
     });
 
+
+
+    test("Snapshot 1775053356508 wird korrekt geladen. Hatte in der Vergangenheit Fehler", async () => {
+
+        snapshotFile = "snapshot_video0_1775053356508_two_cam.csv";
+
+        await calculate();
+
+        expect(global.fetch).toHaveBeenCalledWith("/api/latest-snapshot");
+
+        //expect(logValue).toMatch(/Starte Berechnung/);
+        //expect(logValue).toMatch(/CSV-Daten geladen/);
+    });
+
+     test("Snapshot video0_1775055007798 wird korrekt geladen. Hatte in der Vergangenheit Fehler", async () => {
+
+        snapshotFile = "snapshot_video0_1775055007798_two_cam.csv";
+
+        var result =await calculate();
+
+        expect(global.fetch).toHaveBeenCalledWith("/api/latest-snapshot");
+
+        var valueDeg = result.features["forearm.angleZ"].valueDeg
+
+        expect(valueDeg).toBeCloseTo(0, 10); // Erwartet ca. -137.28° mit 1 Dezimalstelle Genauigkeit
+        //expect(logValue).toMatch(/Starte Berechnung/);
+        //expect(logValue).toMatch(/CSV-Daten geladen/);
+    });
+
+    
 });
\ No newline at end of file
diff --git a/test/snapshots/snapshot_video0_1775053356508.jpg b/test/snapshots/snapshot_video0_1775053356508.jpg
new file mode 100644
index 0000000..e91b9f0
Binary files /dev/null and b/test/snapshots/snapshot_video0_1775053356508.jpg differ
diff --git a/test/snapshots/snapshot_video0_1775053356508_two_cam.csv b/test/snapshots/snapshot_video0_1775053356508_two_cam.csv
new file mode 100644
index 0000000..25c77ff
--- /dev/null
+++ b/test/snapshots/snapshot_video0_1775053356508_two_cam.csv
@@ -0,0 +1,22 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
+camera 0,-180.29,-582.70,606.22,-120.352,-2.507,-45.132
+camera 1,460.46,-302.03,1195.08,-166.423,0.441,12.545
+197,313.01,-137.43,64.84,-43.919,10.863,-137.223,1
+198,358.37,-49.95,97.32,122.783,-37.930,-66.831,3
+200,288.12,-27.96,119.65,0.121,-1.297,0.397,3
+201,250.61,48.77,108.94,88.676,1.721,-89.698,1
+204,289.63,123.83,127.01,128.096,-25.179,-53.030,3
+205,831.89,-75.89,-90.45,-0.162,-9.649,-0.268,2
+207,819.67,10.39,-42.80,-3.626,-3.520,-0.994,2
+208,497.75,-82.54,-53.87,20.918,-10.309,0.439,2
+210,-2.99,-0.71,0.50,2.377,0.184,-0.194,3
+211,199.46,0.22,-0.80,-3.189,0.906,-1.252,3
+212,438.01,-373.57,72.38,-85.854,-1.602,106.131,1
+214,399.90,5.55,-27.95,-0.378,-9.866,-0.703,2
+215,199.39,-90.08,-0.83,-5.507,3.929,-0.594,3
+217,612.87,21.73,-85.09,14.839,-16.092,-4.602,2
+218,448.81,-245.94,109.39,-8.326,-1.595,-0.978,3
+219,450.42,-352.53,124.37,-8.411,-0.066,0.365,3
+226,449.75,-134.02,93.73,137.977,-47.849,-89.841,3
+229,359.92,-140.80,97.55,117.461,-45.015,-68.639,3
+243,389.93,-147.98,30.40,90.803,1.786,1.255,1
diff --git a/test/snapshots/snapshot_video0_1775053356508_two_cam.json b/test/snapshots/snapshot_video0_1775053356508_two_cam.json
new file mode 100644
index 0000000..544b60a
--- /dev/null
+++ b/test/snapshots/snapshot_video0_1775053356508_two_cam.json
@@ -0,0 +1,292 @@
+{
+    "metadata": {
+        "timestamp": "2026-04-01 14:22:36",
+        "reference_markers": [
+            210,
+            211,
+            215
+        ],
+        "dict": "DICT_4X4_250",
+        "marker_size_mm": 25.0,
+        "rms_refs_px_cam1": 3.378740906255586,
+        "rms_refs_px_cam2": 2.390546911098745,
+        "description": "Two-camera joint optimization with triangulation"
+    },
+    "cameras": [
+        {
+            "id": "camera1",
+            "position_mm": [
+                -180.2934873693634,
+                -582.7026829125251,
+                606.2184304092095
+            ],
+            "orientation_deg": {
+                "roll": -120.35196168779923,
+                "pitch": -2.5067814319660724,
+                "yaw": -45.132040949405415
+            }
+        },
+        {
+            "id": "camera2",
+            "position_mm": [
+                460.46087398323533,
+                -302.0267548206375,
+                1195.0793038725305
+            ],
+            "orientation_deg": {
+                "roll": -166.4230925326533,
+                "pitch": 0.44085388226781036,
+                "yaw": 12.544632747684963
+            }
+        }
+    ],
+    "markers": [
+        {
+            "id": 197,
+            "position_mm": [
+                313.0117745005052,
+                -137.42631952618396,
+                64.83905421949487
+            ],
+            "orientation_deg": {
+                "roll": -43.91856484056828,
+                "pitch": 10.863239798498853,
+                "yaw": -137.22269306865633
+            }
+        },
+        {
+            "id": 198,
+            "position_mm": [
+                358.36993408203125,
+                -49.945735931396484,
+                97.31610870361328
+            ],
+            "orientation_deg": {
+                "roll": 122.78291647929343,
+                "pitch": -37.929947259478986,
+                "yaw": -66.83115727760695
+            }
+        },
+        {
+            "id": 200,
+            "position_mm": [
+                288.1150817871094,
+                -27.963459014892578,
+                119.65457153320312
+            ],
+            "orientation_deg": {
+                "roll": 0.1210738004558989,
+                "pitch": -1.2970108600504175,
+                "yaw": 0.39708319324064106
+            }
+        },
+        {
+            "id": 201,
+            "position_mm": [
+                250.61174241952338,
+                48.770039813857856,
+                108.94316659289433
+            ],
+            "orientation_deg": {
+                "roll": 88.67560594063735,
+                "pitch": 1.7209374574508063,
+                "yaw": -89.6983104558761
+            }
+        },
+        {
+            "id": 204,
+            "position_mm": [
+                289.6269226074219,
+                123.83003234863281,
+                127.01192474365234
+            ],
+            "orientation_deg": {
+                "roll": 128.09632036201617,
+                "pitch": -25.178855713196512,
+                "yaw": -53.02971002864366
+            }
+        },
+        {
+            "id": 205,
+            "position_mm": [
+                831.8898605678013,
+                -75.89247746062189,
+                -90.45386690292467
+            ],
+            "orientation_deg": {
+                "roll": -0.16232733180350478,
+                "pitch": -9.649209331493775,
+                "yaw": -0.26791412328043324
+            }
+        },
+        {
+            "id": 207,
+            "position_mm": [
+                819.6683212110961,
+                10.38529231370039,
+                -42.7984497155689
+            ],
+            "orientation_deg": {
+                "roll": -3.6257896782979877,
+                "pitch": -3.5199633579751333,
+                "yaw": -0.9942169763678559
+            }
+        },
+        {
+            "id": 208,
+            "position_mm": [
+                497.74753008086935,
+                -82.53579513512224,
+                -53.866445255438045
+            ],
+            "orientation_deg": {
+                "roll": 20.91787896896225,
+                "pitch": -10.309477347748961,
+                "yaw": 0.4391253791011457
+            }
+        },
+        {
+            "id": 210,
+            "position_mm": [
+                -2.9949965476989746,
+                -0.7070890069007874,
+                0.4990556538105011
+            ],
+            "orientation_deg": {
+                "roll": 2.3765744907389035,
+                "pitch": 0.18354391966658565,
+                "yaw": -0.19394999101273383
+            }
+        },
+        {
+            "id": 211,
+            "position_mm": [
+                199.46054077148438,
+                0.22055648267269135,
+                -0.8021777868270874
+            ],
+            "orientation_deg": {
+                "roll": -3.1894548301416297,
+                "pitch": 0.9063881330354913,
+                "yaw": -1.2515674795990612
+            }
+        },
+        {
+            "id": 212,
+            "position_mm": [
+                438.0072384873113,
+                -373.57227963165116,
+                72.37967352624774
+            ],
+            "orientation_deg": {
+                "roll": -85.85407193298983,
+                "pitch": -1.6016557024095894,
+                "yaw": 106.13093524852962
+            }
+        },
+        {
+            "id": 214,
+            "position_mm": [
+                399.89880467989553,
+                5.5511391070884315,
+                -27.954999082773433
+            ],
+            "orientation_deg": {
+                "roll": -0.37842131135239854,
+                "pitch": -9.865515152918247,
+                "yaw": -0.7025976073158033
+            }
+        },
+        {
+            "id": 215,
+            "position_mm": [
+                199.38986206054688,
+                -90.07653045654297,
+                -0.8274731040000916
+            ],
+            "orientation_deg": {
+                "roll": -5.506676560559792,
+                "pitch": 3.928848268426832,
+                "yaw": -0.5936686302418879
+            }
+        },
+        {
+            "id": 217,
+            "position_mm": [
+                612.8670546452795,
+                21.725382219876465,
+                -85.09371706544333
+            ],
+            "orientation_deg": {
+                "roll": 14.838545293335498,
+                "pitch": -16.09170411323534,
+                "yaw": -4.6019356858139515
+            }
+        },
+        {
+            "id": 218,
+            "position_mm": [
+                448.805419921875,
+                -245.9364471435547,
+                109.39110565185547
+            ],
+            "orientation_deg": {
+                "roll": -8.325659635675745,
+                "pitch": -1.5954280938665324,
+                "yaw": -0.9783401776101657
+            }
+        },
+        {
+            "id": 219,
+            "position_mm": [
+                450.4158020019531,
+                -352.5322265625,
+                124.3732681274414
+            ],
+            "orientation_deg": {
+                "roll": -8.41121918492422,
+                "pitch": -0.06643397955297632,
+                "yaw": 0.3647803563168519
+            }
+        },
+        {
+            "id": 226,
+            "position_mm": [
+                449.75091552734375,
+                -134.0245819091797,
+                93.72562408447266
+            ],
+            "orientation_deg": {
+                "roll": 137.9774086127801,
+                "pitch": -47.84854652853605,
+                "yaw": -89.84086658243513
+            }
+        },
+        {
+            "id": 229,
+            "position_mm": [
+                359.9160461425781,
+                -140.80027770996094,
+                97.5535659790039
+            ],
+            "orientation_deg": {
+                "roll": 117.46114650914454,
+                "pitch": -45.01461049381471,
+                "yaw": -68.63853132083344
+            }
+        },
+        {
+            "id": 243,
+            "position_mm": [
+                389.93076591403826,
+                -147.9809413320975,
+                30.402230114854877
+            ],
+            "orientation_deg": {
+                "roll": 90.80307584205956,
+                "pitch": 1.7855453555902752,
+                "yaw": 1.255488086563549
+            }
+        }
+    ]
+}
\ No newline at end of file
diff --git a/test/snapshots/snapshot_video0_1775053356508_two_cam_annotated.jpg b/test/snapshots/snapshot_video0_1775053356508_two_cam_annotated.jpg
new file mode 100644
index 0000000..7142dfb
Binary files /dev/null and b/test/snapshots/snapshot_video0_1775053356508_two_cam_annotated.jpg differ
diff --git a/test/snapshots/snapshot_video0_1775053356508_two_cam_overlay.png b/test/snapshots/snapshot_video0_1775053356508_two_cam_overlay.png
new file mode 100644
index 0000000..5ac7170
Binary files /dev/null and b/test/snapshots/snapshot_video0_1775053356508_two_cam_overlay.png differ
diff --git a/test/snapshots/snapshot_video0_1775055007798.jpg b/test/snapshots/snapshot_video0_1775055007798.jpg
new file mode 100755
index 0000000..62be9e2
Binary files /dev/null and b/test/snapshots/snapshot_video0_1775055007798.jpg differ
diff --git a/test/snapshots/snapshot_video0_1775055007798_two_cam.csv b/test/snapshots/snapshot_video0_1775055007798_two_cam.csv
new file mode 100755
index 0000000..f647871
--- /dev/null
+++ b/test/snapshots/snapshot_video0_1775055007798_two_cam.csv
@@ -0,0 +1,22 @@
+id,x_mm,y_mm,z_mm,roll_deg,pitch_deg,yaw_deg,seen_by
+camera 0,-169.31,-590.54,610.01,-120.637,-1.900,-44.583
+camera 1,458.47,-305.28,1194.04,-166.289,0.328,12.512
+197,324.32,-128.91,52.99,-43.555,88.628,136.364,1
+198,358.37,-50.86,97.71,121.842,-36.827,-64.694,3
+200,288.19,-29.23,120.74,0.355,-0.669,0.931,3
+201,268.29,74.43,89.17,87.299,3.171,-87.487,1
+204,289.32,123.34,127.81,127.695,-24.616,-52.323,3
+205,831.85,-75.87,-90.35,-0.004,-9.729,-0.328,2
+207,826.71,16.46,-66.93,28.597,-23.307,-4.231,2
+208,498.32,-79.52,-72.61,-5.766,-5.010,3.401,2
+210,-3.00,-0.70,0.48,0.889,1.615,-0.186,3
+211,199.46,0.23,-0.81,-2.974,1.541,-0.709,3
+212,448.84,-370.86,63.64,-82.887,-2.480,107.806,1
+214,400.05,5.55,-27.63,0.768,-13.728,-1.991,2
+215,199.39,-90.07,-0.84,-1.925,0.092,-0.797,3
+217,601.77,4.98,-7.30,127.401,-43.177,-81.888,3
+218,448.79,-246.94,109.56,-7.267,-0.743,0.665,3
+219,450.53,-353.60,124.89,-7.360,0.853,1.939,3
+226,449.55,-134.78,93.36,136.418,-48.850,-87.466,3
+229,359.88,-141.90,98.27,-1.498,0.759,-1.139,3
+243,395.41,-144.10,24.43,90.157,2.426,2.271,1
diff --git a/test/snapshots/snapshot_video0_1775055007798_two_cam.json b/test/snapshots/snapshot_video0_1775055007798_two_cam.json
new file mode 100755
index 0000000..53bd827
--- /dev/null
+++ b/test/snapshots/snapshot_video0_1775055007798_two_cam.json
@@ -0,0 +1,292 @@
+{
+    "metadata": {
+        "timestamp": "2026-04-01 14:50:08",
+        "reference_markers": [
+            210,
+            211,
+            215
+        ],
+        "dict": "DICT_4X4_250",
+        "marker_size_mm": 25.0,
+        "rms_refs_px_cam1": 3.3833364222651165,
+        "rms_refs_px_cam2": 2.3948313887470385,
+        "description": "Two-camera joint optimization with triangulation"
+    },
+    "cameras": [
+        {
+            "id": "camera1",
+            "position_mm": [
+                -169.31458303053114,
+                -590.5403610290119,
+                610.0127251550674
+            ],
+            "orientation_deg": {
+                "roll": -120.63665543950516,
+                "pitch": -1.8997417867976514,
+                "yaw": -44.58333266603719
+            }
+        },
+        {
+            "id": "camera2",
+            "position_mm": [
+                458.4659172415876,
+                -305.28148627217706,
+                1194.0391686265923
+            ],
+            "orientation_deg": {
+                "roll": -166.28853383194823,
+                "pitch": 0.32795062397009933,
+                "yaw": 12.511685833826132
+            }
+        }
+    ],
+    "markers": [
+        {
+            "id": 197,
+            "position_mm": [
+                324.3247308236978,
+                -128.91145206215703,
+                52.99066700405597
+            ],
+            "orientation_deg": {
+                "roll": -43.554638825384735,
+                "pitch": 88.62847879336204,
+                "yaw": 136.36440070030667
+            }
+        },
+        {
+            "id": 198,
+            "position_mm": [
+                358.3747863769531,
+                -50.85673141479492,
+                97.70661926269531
+            ],
+            "orientation_deg": {
+                "roll": 121.84182973454827,
+                "pitch": -36.82690204167092,
+                "yaw": -64.69420708943247
+            }
+        },
+        {
+            "id": 200,
+            "position_mm": [
+                288.1910705566406,
+                -29.227956771850586,
+                120.73944854736328
+            ],
+            "orientation_deg": {
+                "roll": 0.35491692297975885,
+                "pitch": -0.6687106593921792,
+                "yaw": 0.9308350860841724
+            }
+        },
+        {
+            "id": 201,
+            "position_mm": [
+                268.28853167785013,
+                74.4343022759153,
+                89.17126866326308
+            ],
+            "orientation_deg": {
+                "roll": 87.29869403373556,
+                "pitch": 3.17059549901763,
+                "yaw": -87.4865738038031
+            }
+        },
+        {
+            "id": 204,
+            "position_mm": [
+                289.31732177734375,
+                123.33594512939453,
+                127.8097152709961
+            ],
+            "orientation_deg": {
+                "roll": 127.69456389724971,
+                "pitch": -24.616158306756613,
+                "yaw": -52.32280627187357
+            }
+        },
+        {
+            "id": 205,
+            "position_mm": [
+                831.846649411246,
+                -75.87216662846943,
+                -90.34781727034935
+            ],
+            "orientation_deg": {
+                "roll": -0.0038036571613558673,
+                "pitch": -9.729424436105697,
+                "yaw": -0.32844424012560414
+            }
+        },
+        {
+            "id": 207,
+            "position_mm": [
+                826.7088162246658,
+                16.458956554079528,
+                -66.92776701864634
+            ],
+            "orientation_deg": {
+                "roll": 28.597259453047982,
+                "pitch": -23.306976307999538,
+                "yaw": -4.230746330404859
+            }
+        },
+        {
+            "id": 208,
+            "position_mm": [
+                498.3242290903246,
+                -79.5216628500659,
+                -72.61168548772746
+            ],
+            "orientation_deg": {
+                "roll": -5.765535990336847,
+                "pitch": -5.009518267469449,
+                "yaw": 3.4008252850838274
+            }
+        },
+        {
+            "id": 210,
+            "position_mm": [
+                -2.9961342811584473,
+                -0.7001294493675232,
+                0.4807419180870056
+            ],
+            "orientation_deg": {
+                "roll": 0.8889903603083815,
+                "pitch": 1.6145819456543633,
+                "yaw": -0.1863768906781964
+            }
+        },
+        {
+            "id": 211,
+            "position_mm": [
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+}
\ No newline at end of file
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