{
  "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,
    "renderDefaults": {"width": 1280, "height": 720, "dofFStop": 11},
    "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": [-200, 200, 1400],
    "cameraPosition_c": [600, -500, 600],
    "cameraTarget": [200, -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": [0.7, 0.85, 1.0],
    "backgroundStrength": 0.2,
    "sunEnergy": 0.35,
    "areaEnergy": 120,
    "exposure": -1.5,
    "lensDirt": true,
    "lensDirtStrength": 0.08,
    "dofEnabled": true,
    "dofFStop": 11.0,
    "arucoDust": true,
    "arucoDustStrength": 1.6,
    "markerOffsetMaxMm": 4.0,
    "markerOffsetSeed": 0,
    "markerRotationMaxDeg": 3,
    "motionBlur": true,
    "motionBlurMaxPx": 5.5,
    "focalErrorPct": 0.5,
    "principalErrorPx": 3.0,
    "residualDistortion": [0.02, -0.01],
    "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, 0.2, 0.2], "roughness": 0.35, "metallic": 0.0},
      "markerBlack": {"baseColor": [0.04, 0.04, 0.04], "roughness": 0.8, "metallic": 0.0}
    },
    "skeletonDefaults": {"radius": 4, "color": [0.85, 0.2, 0.2]},
    "markerDefaults": {"size": 25, "thickness": 1, "color": [0.04, 0.04, 0.04]},
    "defaultPosition": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3}
  },
  "defaultPosition__": {"x": 10, "y": 4, "z": 20, "a": 10, "b": 2, "c": 9, "e": 1},
  "defaultPosition": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5},
  "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
  },
  "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,
    "finger_block_joints": ["b", "c", "e"],
    "per_link_method": {}
  },
  "robot_test_poses": {
    "4": {"x": 70, "y": 50, "z": -70, "a": 120, "b": 50, "c": 30, "e": 20},
    "5": {"x": 180, "y": 86, "z": -120, "a": -60, "b": 22, "c": 91, "e": 10},
    "6": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3},
    "7": {"x": 30, "y": -2, "z": 95, "a": 20, "b": 23, "c": 9, "e": 9},
    "8": {"x": 50, "y": -2, "z": 95, "a": 20, "b": 60, "c": 9, "e": 3},
    "9": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
    "9a": {
      "x": 60,
      "y": -2,
      "z": 95,
      "a": 200,
      "b": 60,
      "c": 9,
      "e": 8,
      "rendering": {"width": 1440, "height": 1080, "dofFStop": 11}
    },
    "9b": {
      "x": 60,
      "y": -2,
      "z": 95,
      "a": 200,
      "b": 60,
      "c": 9,
      "e": 8,
      "rendering": {"width": 4896, "height": 3264, "dofFStop": 5.6}
    },
    "10": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4},
    "11": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5},
    "12": {"x": 50, "y": 0, "z": 178, "a": 210, "b": 80, "c": 90, "e": 6}
  },
  "test_camera_positions": {
    "a": [-300, -800, 800],
    "b": [300, -900, 1200],
    "c": [300, -900, 400],
    "d": [700, -800, 400],
    "e": [1200, -900, 400],
    "f": [500, -300, 1400],
    "g": [-200, 200, 1400]
  },
  "test_camera_targets": {
    "a": [210, -100, 180],
    "b": [310, -80, 180],
    "c": [210, -100, 150],
    "d": [210, -100, 150],
    "e": [210, -100, 50],
    "f": [200, -200, 180],
    "g": [200, -200, 180]
  },
  "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": 5,
    "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, 0.2, 0.2]},
      "markers": [
        {
          "id": 46,
          "set": "A0",
          "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, "set": "A0", "position": [344.23, -286.54, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 48, "set": "A0", "position": [688.69, -320.72, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 49, "set": "A0", "position": [1006.0, 158.33, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 50, "set": "A0", "position": [573.41, 211.86, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 51, "set": "A0", "position": [167.8, -172.08, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 52, "set": "A0", "position": [94.68, 208.66, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 53, "set": "A0", "position": [486.25, 212.24, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 54, "set": "A0", "position": [342.27, -330.59, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 55, "set": "A0", "position": [283.72, -262.58, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 56, "set": "A0", "position": [498.68, 168.67, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 57, "set": "A0", "position": [602.86, -364.05, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 58, "set": "A0", "position": [50.09, -218.11, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 59, "set": "A0", "position": [626.21, -278.75, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 60, "set": "A0", "position": [434.36, 283.81, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 61, "set": "A0", "position": [-22.42, 335.83, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 62, "set": "A0", "position": [404.7, -175.1, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 63, "set": "A0", "position": [777.4, -236.15, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 64, "set": "A0", "position": [-21.27, -188.23, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 65, "set": "A0", "position": [803.39, -297.37, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 66, "set": "A0", "position": [209.75, -363.23, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 67, "set": "A0", "position": [523.07, 267.04, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 68, "set": "A0", "position": [573.73, 170.64, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 69, "set": "A0", "position": [7.61, -281.21, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 70, "set": "A0", "position": [601.87, 300.33, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 71, "set": "A0", "position": [749.75, -284.01, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 72, "set": "A0", "position": [440.99, 194.32, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 73, "set": "A0", "position": [221.73, 333.11, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 74, "set": "A0", "position": [93.78, 144.5, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 75, "set": "A0", "position": [-25.7, 194.58, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 76, "set": "A0", "position": [685.21, 166.8, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 77, "set": "A0", "position": [18.19, 191.57, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 78, "set": "A0", "position": [823.11, -344.38, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 79, "set": "A0", "position": [312.3, -159.11, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 80, "set": "A0", "position": [863.59, -335.92, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 81, "set": "A0", "position": [132.14, 169.03, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 82, "set": "A0", "position": [219.16, 297.24, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 83, "set": "A0", "position": [44.16, 339.22, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 84, "set": "A0", "position": [407.49, 258.42, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 85, "set": "A0", "position": [504.58, -312.75, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 86, "set": "A0", "position": [362.89, 292.01, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 87, "set": "A0", "position": [943.63, -245.76, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 88, "set": "A0", "position": [765.87, 316.04, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 89, "set": "A0", "position": [988.02, -369.14, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 90, "set": "A0", "position": [643.17, 316.43, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 91, "set": "A0", "position": [723.35, 328.05, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 92, "set": "A0", "position": [645.09, -184.84, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 93, "set": "A0", "position": [934.88, 143.6, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 94, "set": "A0", "position": [875.7, 173.65, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 95, "set": "A0", "position": [186.04, -274.07, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 96, "set": "A0", "position": [369.77, -186.49, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 97, "set": "A0", "position": [304.35, -359.67, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 98, "set": "A0", "position": [575.27, 315.06, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 99, "set": "A0", "position": [959.16, -321.55, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 100, "set": "A0", "position": [803.25, 172.36, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 101, "set": "A0", "position": [117.7, 298.66, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 102, "set": "A0", "position": [649.69, -223.0, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 103, "set": "A0", "position": [105.71, -187.71, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 104, "set": "A0", "position": [826.71, 239.16, -27.3], "normal": [0, 0, 1], "spin": 90},
        {"id": 105, "set": "A0", "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": [0.2, 0.8, 0.2]},
      "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": [0.2, 0.2, 0.9]},
      "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},
        {"id": 197, "name": "aruco_198", "position": [-35, -250, 0], "normal": [-1, 0, 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": [0.9, 0.2, 0.2]},
      "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, 0.2]},
      "model": [
        {
          "stlFile": "surfaces/Unterarm.stl",
          "originOfModel": [0, -250, 0],
          "rotationOfModelDegree": [180, 0, -90],
          "material": "defaultPlastic"
        }
      ],
      "markers": [
      ]
    },
    "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, 0.2, 0.2]}
    },
    "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": [0.2, 0.8, 0.2]},
      "markers": [
         ],
      "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": [0.2, 0.8, 0.2]},
      "markers": [
        ],
      "model": [
        {
          "stlFile": "surfaces/Finger.stl",
          "originOfModel": [-24, 0, 9.1],
          "rotationOfModelDegree": [90, 90, 0],
          "material": "defaultPlastic"
        }
      ]
    }
  }
}