appRobotHoming/data/homing/20260625_172504/aruco_marker_poses.csv

1	marker_id	link	set	num_cameras	x_mm	y_mm	z_mm	nx	ny	nz	model_x_mm	model_y_mm	model_z_mm	dist_to_model_mm	delta_z_mm	edge_length_mm
2	0	unknown		2	505.2	-100.88	-7.16	0.02189	0.03624	0.9991						24.24
3	46	Board	A0	2	537.83	185.51	-27.88	-0.08568	-0.05354	0.99488	537.44	185.2	-27.2	0.841	-0.679	23.2
4	47	Board	A0	2	343.18	-286.29	-27.16	-0.03123	0.01004	0.99946	343.18	-286.05	-27.49	0.407	0.326	24.03
5	50	Board	A0	2	574.07	210.38	-26.23	-0.00073	0.03209	0.99948	574.23	211.48	-27.15	1.448	0.925	24.06
6	51	Board	A0	2	166.73	-171.08	-27.09	-0.03386	0.01172	0.99936	167.18	-170.93	-27.76	0.818	0.667	24.31
7	53	Board	A0	2	487.37	212.32	-27.38	-0.07361	-0.01564	0.99716	487.08	212.19	-27.28	0.33	-0.103	23.53
8	54	Board	A0	3	341.07	-330.3	-27.22	-0.03362	0.04017	0.99863	341.05	-330.09	-27.5	0.351	0.28	24.36
9	55	Arm1	A0	2	282.65	-261.75	-26.65	-0.05274	0.01696	0.99846						24.32
10	58	Board	A0	2	48.62	-216.5	-27.86	-0.00162	-0.0094	0.99995	49.3	-216.52	-27.93	0.684	0.068	24.24
11	62	Board	A0	3	404.15	-174.92	-26.96	0.01614	-0.01502	0.99976	404.07	-174.84	-27.4	0.454	0.439	23.97
12	64	Board	A0	2	-22.59	-186.68	-26.97	-0.00648	0.01133	0.99991	-21.95	-186.37	-28.04	1.286	1.074	24.24
13	66	Board	A0	2	208.51	-363.21	-27.64	-0.04961	0.03216	0.99825	208.41	-362.24	-27.7	0.98	0.055	24.38
14	68	Board	A0	2	574.39	169.06	-26.11	-0.00044	0.05167	0.99866	574.4	170.26	-27.15	1.591	1.04	24.52
15	73	Board	A0	2	221.97	337.22	-30.29	-0.05172	0.1462	0.9879	223.01	334.05	-27.67	4.242	-2.621	26.49
16	76	Board	A0	2	686.21	165.02	-27.13	-0.04548	-0.03114	0.99848	685.86	166	-26.98	1.054	-0.149	23.28
17	79	Board	A0	2	311.51	-157.95	-27.04	0.05023	-0.04899	0.99754	311.73	-158.5	-27.54	0.776	0.496	23.36
18	82	Board	A0	2	219.37	300.46	-29.79	0.00751	0.1232	0.99235	220.31	298.19	-27.68	3.238	-2.111	25.14
19	85	Board	A0	3	503.91	-313.51	-27.06	0.00515	-0.00866	0.99995	503.43	-312.87	-27.25	0.816	0.191	24.1
20	90	Board	A0	2	644.93	316.2	-28.16	-0.02384	-0.04569	0.99867	644.39	315.79	-27.04	1.307	-1.118	23.32
21	91	Board	A0	2	725.49	327.85	-27.51	-0.02708	0.03694	0.99895	724.61	327.11	-26.92	1.289	-0.587	24.21
22	92	Board	A0	2	644.7	-186.93	-25.55	-0.05883	-0.0185	0.9981	644.42	-185.49	-27.04	2.094	1.489	23.69
23	95	Board	A0	3	184.77	-273.26	-27.61	-0.03697	0.01835	0.99915	185.04	-272.99	-27.73	0.401	0.121	24.34
24	96	Board	A0	3	369.2	-185.74	-27.61	-0.04836	0.02152	0.9986	369.1	-186.1	-27.46	0.398	-0.148	24.06
25	103	Board	A0	3	104.63	-186.32	-27.25	-0.01721	0.02455	0.99955	105.03	-186.33	-27.85	0.721	0.6	24.42
26	105	Board	A0	3	524.3	-267.15	-27.08	-0.016	0.01938	0.99968	523.86	-266.44	-27.22	0.848	0.137	23.92
27	118	unknown		3	322.99	-174.22	47.16	0.02335	-0.99462	0.10089						24.14
28	122	Ellbow		3	359.95	-173.78	46.07	0.00204	-0.99361	0.11286						24.26
29	143	Arm2		2	340.07	-138.22	229.66	-0.72695	-0.68151	0.08421						24.03
30	144	Arm2		3	362.93	-157.15	158.16	-0.05456	-0.9917	0.11642						24.31
31	146	Arm2		2	337.31	-147.71	160.02	-0.68833	-0.72303	0.05854						24.0
32	147	FingerA		3	383.25	-144.05	226.5	0.43778	-0.89607	0.07357						23.85
33	148	Arm2		3	367.21	-142.91	264.34	-0.04936	-0.99586	0.07639						24.28
34	178	FingerB		2	287.73	-121.4	315.33	-0.67179	-0.7215	-0.16775						23.25
35	179	FingerB		2	329.15	-139.64	311.4	-0.61251	-0.17201	0.77152						23.53
36	198	Arm1		2	268.53	-53.98	84.4	0.00864	0.01319	0.99988						24.79
37	200	unknown		2	199.66	-28.82	110.04	-0.15134	-0.01695	0.98834						23.71
38	204	unknown		2	198.48	115.43	120.91	0.03546	0.04428	0.99839						24.17
39	208	Board	rail	2	626.35	-98.62	-6.79	-0.00084	0.01537	0.99988	631.01	-98.43	-7.71	4.748	0.917	24.04
40	210	Board	rail	2	129.9	-7.86	-5.67	0.06219	0.02253	0.99781	122.63	-13.98	-0.72	10.715	-4.946	23.24
41	214	unknown		2	531.62	-8.59	-6.83	-0.02922	0.04196	0.99869						24.25
42	217	Board	rail	2	730.01	-8.51	-5.0	-0.08513	-0.01438	0.99627	732.39	-23.88	7.39	19.881	-12.386	23.12
43	229	Arm1		3	271.17	-142.11	79.1	0.01062	-0.04516	0.99892						23.94
44	243	Arm1		2	270.3	-176.61	43.73	0.02044	-0.9996	-0.01934						24.13
45	camera_id	x_mm	y_mm	z_mm	dir_x	dir_y	dir_z
46	cam0	335.33	-885.66	468.37	-0.06588	0.89247	-0.44628
47	cam1	296.81	-462.82	780.61	0.09503	0.4331	-0.89632
48	cam2	712.91	-665.53	724.31	-0.42887	0.59445	-0.68022