{
  "coordinateSystem": {
    "handedness": "right",
    "x": "right",
    "y": "backward",
    "z": "up"
  },
  "units": {
    "length": "mm",
    "rotation": "degree"
  },
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "renderingInfo": {
    "width": 1280,
    "height": 720,
    "cameraPosition__1": [-10, -800, 500],
    "cameraPosition__2": [-500, 300, 1200],
    "cameraPosition__3": [-200, -900, 200],
    "cameraPosition__4": [1200, 200, 300],
    "cameraPosition_a":[-300, -800,500],
    "cameraPosition":[300, -500,1450],
    "cameraPosition_c":[600, -500,600],
    "cameraTarget": [210, -200, 180],
    "cameraUpVector": [0, 0, 1],
    "lightPosition": [-500, -500, 500],
    "lightTarget": [0, 0, 0],
    "lightUpVector": [0, 0, 1],
    "metric": "mm",
    "showSkeleton": true,
    "showMarkers": true,
    "backgroundColor": [0.70, 0.85, 1.0],
    "backgroundStrength": 0.20,
    "sunEnergy": 0.35,
    "areaEnergy": 120,
    "exposure": -1.5,
    "lensDirt": true,
    "lensDirtStrength": 0.08,
    "dofEnabled": true,
    "dofFStop": 11,
    "arucoDust": false,
    "arucoDustStrength": 0.00005,
    "localizedBlur": false,
    "localizedBlurStrength": 0.15,
    "vignette": true,
    "vignetteStrength": 0.08,

    "sensorNoise": true,
    "sensorNoiseStrength": 0.01,

    "lensDistortion": true,
    "lensDistortionStrength": 0.002,
    "materials": {
      "wood": {
        "baseColor": [0.72, 0.52, 0.33],
        "roughness": 0.85,
        "metallic": 0.0
      },
      "plaWhite": {
        "baseColor": [0.95, 0.95, 0.95],
        "roughness": 0.45,
        "metallic": 0.0
      },
      "steel": {
        "baseColor": [0.72, 0.72, 0.75],
        "roughness": 0.25,
        "metallic": 1.0
      },
      "powderCoatBlue": {
        "baseColor": [0.15, 0.25, 0.7],
        "roughness": 0.55,
        "metallic": 0.0
      },
      "defaultPlastic": {
        "baseColor": [0.95, 0.95, 0.95],
        "roughness": 0.4,
        "metallic": 0.0
      },
      "skeletonRed": {
        "baseColor": [0.85, 0.20, 0.20],
        "roughness": 0.35,
        "metallic": 0.0
      },
      "markerBlack": {
        "baseColor": [0.04, 0.04, 0.04],
        "roughness": 0.80,
        "metallic": 0.0
      }
    },
    "skeletonDefaults": {
      "radius": 4,
      "color": [0.85, 0.20, 0.20]
    },
    "markerDefaults": {
      "size": 25,
      "thickness": 1,
      "color": [0.04, 0.04, 0.04]
    }
  },
  "defaultPosition__": {
    "x": 10,
    "y": 4,
    "z": 20,
    "a": 10,
    "b": 2,
    "c": 9,
    "e": 1
  },
  "defaultPosition": {
    "x": 180,
    "y": 86,
    "z": -120,
    "a": -60,
    "b": 22,
    "c": 91,
    "e": 10
  },
  "recognized": {
    "x": null,
    "y": null,
    "z": null,
    "a": null,
    "b": null,
    "c": null,
    "e": null
  },
  "constraint_rules": {

    "rigid_distance": {
      "enabled": true,
      "mode": "mst",
      "weight": 1.0
    },

    "joint_axis_projection": {
      "enabled": true,
      "max_pairs": 2,
      "weight": 0.35
    },

    "chain_axis_projection": {
      "enabled": false,
      "max_depth": 3,
      "max_pairs": 2,
      "weight": 0.15
    },

    "axis_alignment_threshold": 0.95
  },
  "observation_weighting": {
      "enabled": true,
      "distance_weight": true,
      "marker_size_weight": true,
      "view_angle_weight": true
  },
  "multiview_calculation": {
    "combine_mode": "mean",
    "size_ref_px": 50.0,
    "border_ref_px": 120.0,
    "center_ref_norm": 0.01,
    "sharpness_ref": 2500.0,
    "homography_ref": 0.18,
    "size_factor": 0.3,
    "aspect_factor": 0.3,
    "border_factor": 0.01,
    "center_factor": 0.01,
    "sharpness_factor": 0.5,
    "homography_factor": 0.2,
    "normal_visibility_factor": 0.01,
    "spin_factor": 0.3,
    "weight_floor": 0.3
  },
  "robot_test_poses": {
    "sim04": {"x": 70, "y": 50,"z": -70,"a": 120,"b": 50,"c": 30,"e": 20},
    "sim05": {"x": 180,"y": 86,"z": -120,"a": -60,"b": 22,"c": 91,"e": 10},
    "sim06": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3},
    "sim07": {"x": 30, "y": -2, "z": 95, "a": 20, "b": 23, "c": 9, "e": 9},
    "sim08": {"x": 50, "y": -2, "z": 95, "a": 20, "b": 60, "c": 9, "e": 3},
    "sim09": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
    "sim09a": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
    "sim09b": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
    "sim010": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4},
    "sim011": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5},
    "sim012": {"x": 50, "y": 0, "z": 178, "a": 210, "b": 80, "c": 90, "e": 6}
  }, 
  "movements": {
    "x": null,
    "y": null,
    "z": null,
    "a": null,
    "b": null,
    "c": null,
    "e": null
  },
  "state_pose_params":{ 
    "numbers_of_Elements_to_consider_start": 3,
    "numbers_of_Elements_to_consider_final": 4,
    "solver_in_between_geometrical": false,
    "solver_after_geometrical": false,
    "geometric_passes_per_stage": 2,
    "revolute_search_coarse_deg": 5.0,
    "revolute_search_fine_deg": 1.0,
    "root_pose_min_markers": 3,
    "use_marker_normals_flip_tiebreak": true,
    "normal_flip_weight": 0.05
  },
  "links": {
    "Board": {
      "parent": null,
      "size": [1000, 200, 25],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "skeleton": {
        "from": [0, 0, 16],
        "to": [1000, 0, 16],
        "radius": 4,
        "color": [0.85, 0.20, 0.20]
      },
      "markers":[         
        {"id":210,"position":[20,  -20, 0.3], "normal":[0,0,1]},
        {"id":211,"position":[250, -10, 0.3], "normal":[0,0,1]},
        {"id":215,"position":[250, -90, 0.3], "normal":[0,0,1]},
        {"id":214,"position":[350, -10, 0.3], "normal":[0,0,1]},        
        {"id":208,"position":[350, -90, 0.3], "normal":[0,0,1]},
        {"id":206,"position":[650, -10, 0.3], "normal":[0,0,1]},
        {"id":205,"position":[750, -90, 0.3], "normal":[0,0,1]},
        {"id":207,"position":[750, -10, 0.3], "normal":[0,0,1]},
        {"id":217,"position":[650, -90, 0.3], "normal":[0,0,1]},

        {"id": 46, "position": [536.71, 185.44, -27.3], "normal": [0, 0, 1], "spin": 90, "info": "is placed on a white paper, A0_60Arucos_25mm_Seet223.pdf, with the following marker placements:"},
        {"id": 47, "position": [344.23, -286.54, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 48, "position": [688.69, -320.72, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 49, "position": [1006.0, 158.33, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 50, "position": [573.41, 211.86, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 51, "position": [167.8, -172.08, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 52, "position": [94.68, 208.66, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 53, "position": [486.25, 212.24, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 54, "position": [342.27, -330.59, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 55, "position": [283.72, -262.58, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 56, "position": [498.68, 168.67, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 57, "position": [602.86, -364.05, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 58, "position": [50.09, -218.11, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 59, "position": [626.21, -278.75, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 60, "position": [434.36, 283.81, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 61, "position": [-22.42, 335.83, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 62, "position": [404.7, -175.1, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 63, "position": [777.4, -236.15, -27.3], "normal": [0, 0, 1], "spin": 90},
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        {"id": 65, "position": [803.39, -297.37, -27.3], "normal": [0, 0, 1], "spin": 90},
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        {"id": 67, "position": [523.07, 267.04, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 68, "position": [573.73, 170.64, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 69, "position": [7.61, -281.21, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 70, "position": [601.87, 300.33, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 71, "position": [749.75, -284.01, -27.3], "normal": [0, 0, 1], "spin": 90},
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        {"id": 73, "position": [221.73, 333.11, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 74, "position": [93.78, 144.5, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 75, "position": [-25.7, 194.58, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 76, "position": [685.21, 166.8, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 77, "position": [18.19, 191.57, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 78, "position": [823.11, -344.38, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 79, "position": [312.3, -159.11, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 80, "position": [863.59, -335.92, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 81, "position": [132.14, 169.03, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 82, "position": [219.16, 297.24, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 83, "position": [44.16, 339.22, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 84, "position": [407.49, 258.42, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 85, "position": [504.58, -312.75, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 86, "position": [362.89, 292.01, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 87, "position": [943.63, -245.76, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 88, "position": [765.87, 316.04, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 89, "position": [988.02, -369.14, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 90, "position": [643.17, 316.43, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 91, "position": [723.35, 328.05, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 92, "position": [645.09, -184.84, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 93, "position": [934.88, 143.6, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 94, "position": [875.7, 173.65, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 95, "position": [186.04, -274.07, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 96, "position": [369.77, -186.49, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 97, "position": [304.35, -359.67, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 98, "position": [575.27, 315.06, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 99, "position": [959.16, -321.55, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 100, "position": [803.25, 172.36, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 101, "position": [117.7, 298.66, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 102, "position": [649.69, -223.0, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 103, "position": [105.71, -187.71, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 104, "position": [826.71, 239.16, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 105, "position": [524.84, -266.25, -27.3], "normal": [0, 0, 1], "spin": 90}
      ],
      "model": [
        {
          "stlFile": "surfaces/Board.stl",
          "originOfModel": [0, 0, 0],
          "rotationOfModelDegree": [0, 0, -90],
          "material": "wood"
        },
        {
          "stlFile": "surfaces/BoardRail.stl",
          "originOfModel": [0, 0, 0],
          "rotationOfModelDegree": [0, 0, -90],
          "material": "steel"
        }
      ]
    },
    "Base": {
      "parent": "Board",
      "size": [150, 200, 150],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
        "name": "Slider",
        "type": "linear",
        "axis": [1, 0, 0],
        "origin": [0, 0, 16],
        "rotation": [0, 0, 0],
        "variable": "x"
      },
      "skeleton": {
        "from": [0, 108, 45],
        "to": [110, 108, 45],
        "radius": 4,
        "color": [0.20, 0.80, 0.20]
      },
      "markers": [
      ],
      "model": [
        {
          "stlFile": "surfaces/Base.stl",
          "originOfModel": [-30, 0, -35],
          "rotationOfModelDegree": [0, 0, 0],
          "material": "plaWhite"
        }
      ]
    },
    "Arm1": {
      "parent": "Base",
      "size": [70, 250, 70],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
        "name": "Joint1",
        "type": "revolute",
        "axis": [-1, 0, 0],
        "origin": [110, 108, 45],
        "rotation": [0, 0, 0],
        "variable": "y"
      },
      "skeleton": {
        "from": [0, 0, 0],
        "to": [0, -250, 0],
        "radius": 4,
        "color": [0.20, 0.20, 0.90]
      },
      "markers": [
        {
          "id": 198,
          "name": "aruco_198",
          "position": [0, -160, 35],
          "normal": [0, 0, 1],
          "size": 25,
          "spin": 0
        },
        {
          "id": 229,
          "name": "aruco_229",
          "position": [0, -250, 35],
          "normal": [0, 0, 1],
          "size": 25,
          "spin": 0
        },
        {
          "id": 242,
          "name": "aruco_242",
          "position": [0, -250, -35],
          "normal": [0, 0, -1],
          "size": 25,
          "spin": 0
        },
        {
          "id": 243,
          "name": "aruco_243",
          "position": [0, -285, 0],
          "normal": [0, -1, 0],
          "size": 25,
          "spin": 0
        }
      ],
      "model": [
        {
          "stlFile": "surfaces/Holm.stl",
          "originOfModel__": [-25,29,-28.5],
          "originOfModel": [-29,25,28.5],
          "rotationOfModelDegree__": [0, 0, 0],
          "rotationOfModelDegree": [180, 0, -90],
          "material": "powderCoatBlue"
        }
      ]
    },
    "Ellbow": {
      "parent": "Arm1",

      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],

      "jointToParent": {
        "name": "Joint2",
        "type": "revolute",
        "axis": [-1, 0, 0],
        "origin": [0, -250, 0],
        "rotation": [0, 0, 0],
        "variable": "z"
      },

      "skeleton": {
        "from": [0, 0, 0],
        "to": [90, 0, 0],
        "radius": 4,
        "color": [0.90, 0.20, 0.20]
      }, 
      "model": [
        {
          "stlFile": "surfaces/Ellebogen.stl",
          "originOfModel": [90,0,0],
          "rotationOfModelDegree": [0,-90,-90],
          "material": "defaultPlastic"
        }
      ],
      "markers": [
         {"id": 244, "name": "aruco_244", "position": [125, 0, 0], "normal": [1, 0, 0], "size": 25, "spin": 0},
        {"id": 245, "name": "aruco_245", "position": [90, 0, -35], "normal": [0, 0, -1], "size": 25, "spin": 0},
        {"id": 246, "name": "aruco_246", "position": [90, 0, 35], "normal": [0, 0, 1], "size": 25},
        {"id": 247, "name": "aruco_247", "position": [52.5, 0, 35], "normal": [0, 0, 1], "size": 25},
        {"id": 248, "name": "aruco_248", "position": [52.5, 0, -35], "normal": [0, 0, -1], "size": 25},
        {"id": 232, "name": "aruco_232", "position": [90, 24.75, -24.75], "normal": [0, 1, -1], "size": 25},
        {"id": 231, "name": "aruco_231", "position": [90, 24.75, 24.75], "normal": [0, 1, 1], "size": 25}
      ]

    },
    "Arm2": {
      "parent": "Ellbow",

      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],

      "jointToParent": {
        "name": "Joint3",
        "type": "revolute",
        "axis": [0, -1, 0],
        "origin": [90, 0, 0],
        "rotation": [0, 0, 0],
        "variable": "a"
      },

      "skeleton": {
        "from": [0, 0, 0],
        "to": [0, -250, 0],
        "radius": 4,
        "color": [0.95, 0.85, 0.20]
      },
      "model": [
        {
          "stlFile": "surfaces/Unterarm.stl",
          "originOfModel": [0,-250,0],
          "rotationOfModelDegree": [180, 0, -90],
          "material": "defaultPlastic"
        }
      ], 
      "markers":[
                     
        {"id":120,                      "position":[24.75, -112, -24.75],"normal":[1,0,-1]},
        {"id":122, "name": "aruco_122", "position":[-35,-112,0], "normal":[-1,0,0]},
        {"id":218, "name": "aruco_218", "position":[35,-112,0], "normal":[1,0,0]},
        {"id":113, "name": "aruco_113", "position":[0, -182, 30],"normal":[0,0,1]},
        {"id":114, "name": "aruco_114", "position":[ 24.75, -182, -24.75],"normal":[ 1,0,-1]},
        {"id":115, "name": "aruco_115", "position":[-24.75, -182, -24.75],"normal":[-1,0,-1]},
        {"id":124, "name": "aruco_124", "position":[-35,-219,0], "normal":[-1,0,0]},
        {"id":219, "name": "aruco_219", "position":[35,-219,0], "normal":[1,0,0]}

      ]
    },
    "Hand": {
      "parent": "Arm2",

      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],

      "jointToParent": {
        "name": "Joint4",
        "type": "revolute",
        "axis": [1, 0, 0],
        "origin": [0, -250, 0],
        "rotation": [0, 0, 0],
        "variable": "b"
      },

      "skeleton": {
        "from": [0, 0, 0],
        "to": [0, -35, 0],
        "radius": 4,
        "color": [0.95, 0.55, 0.15]
      }
    },
    "Palm": {
      "parent": "Hand",

      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],

      "jointToParent": {
        "name": "Joint3",
        "type": "revolute",
        "axis": [0, -1, 0],
        "origin": [0, 0, 0],
        "rotation": [0, 0, 0],
        "variable": "c"
      },

      "skeleton": {
        "from": [-50, -35, 0],
        "to": [50, -35, 0],
        "radius": 7,
        "color": [0.95, 0.20, 0.20]
      }
    },
    "FingerA": {
      "parent": "Palm",
      "size": [80, 60, 20],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
        "name": "Slider",
        "type": "linear",
        "axis": [1, 0, 0],
        "origin": [4, -35,0],
        "rotation": [0, 0, 0],
        "variable": "e"
      },
      "skeleton": {
        "from": [0, 0,0],
        "to": [0, -60, 0],
        "radius": 4,
        "color": [0.20, 0.80, 0.20]
      },
      "markers":[      
        {"id":40,"position":[12,-24,-17.1],"normal":[-10.98,0,-23.56]},
        {"id":41,"position":[1.5,-2.2,25.8],"normal":[0,-25.6,9.5]},
        {"id":42,"position":[13.9,-40,0],"normal":[1,-0.35,0.40], "spin": 27}
      ],
      "model": [
        {
          "stlFile": "surfaces/Finger.stl",
          "originOfModel": [24,0,-9.1],
          "rotationOfModelDegree": [90, -90,0],
          "material": "defaultPlastic"
        }
      ]
    },
    "FingerB": {
      "parent": "Palm",
      "size": [80, 60, 20],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
        "name": "Slider",
        "type": "linear",
        "axis": [-1, 0, 0],
        "origin": [-4, -35,0],
        "rotation": [0, 0, 0],
        "variable": "e"
      },
      "skeleton": {
        "from": [0, 0,0],
        "to": [0, -60, 0],
        "radius": 4,
        "color": [0.20, 0.80, 0.20]
      },
      "markers":[      
        {"id":43,"position":[-12,-24,17.1],"normal":[10.98,0,23.56], "spin":90 },
        {"id":44,"position":[-1.5,-2.2,-25.8],"normal":[0,-25.6,-9.5], "spin":90},
        {"id":45,"position":[-13.9,-40,0],"normal":[-1,-0.35,-0.40], "spin": -27}
      ],
      "model": [
        {
          "stlFile": "surfaces/Finger.stl",
          "originOfModel": [-24,0,9.1],
          "rotationOfModelDegree": [90, 90,0],
          "material": "defaultPlastic"
        }
      ]
    }
  }
}