appRobotHoming/data/homing/20260625_175916/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		3	505.79	-100.06	-8.17	0.00654	-0.01478	0.99987						23.71
3	46	Board	A0	2	537.9	185.52	-27.5	0.0061	0.00117	0.99998	537.44	185.2	-27.2	0.638	-0.305	23.83
4	47	Board	A0	3	343.34	-286.18	-27.52	-0.00826	0.02432	0.99967	343.18	-286.05	-27.49	0.21	-0.034	24.1
5	50	Board	A0	3	574.64	211.77	-27.34	0.00242	0.0109	0.99994	574.23	211.48	-27.15	0.539	-0.186	24.07
6	51	Board	A0	3	166.89	-171.06	-27.49	-0.04142	0.00081	0.99914	167.18	-170.93	-27.76	0.417	0.272	24.2
7	53	Board	A0	3	487.16	212.93	-27.58	0.06677	0.02171	0.99753	487.08	212.19	-27.28	0.798	-0.296	23.92
8	54	Board	A0	3	341.31	-330.18	-27.55	-0.01014	0.01262	0.99987	341.05	-330.09	-27.5	0.275	-0.049	24.21
9	55	Arm1	A0	3	282.71	-261.9	-26.63	-0.03413	0.00638	0.9994						24.37
10	56	Arm1	A0	2	500.02	169.42	-27.88	-0.01336	0.00216	0.99991						23.7
11	58	Board	A0	3	48.69	-216.76	-27.87	-0.0193	0.00188	0.99981	49.3	-216.52	-27.93	0.658	0.059	24.44
12	60	Board	A0	2	435.69	286.11	-29.34	-0.04419	0.06927	0.99662	435.46	283.95	-27.36	2.937	-1.981	24.83
13	62	Board	A0	3	404.22	-174.75	-27.14	0.00893	-0.00881	0.99992	404.07	-174.84	-27.4	0.313	0.259	23.96
14	64	Board	A0	2	-22.33	-187.15	-26.56	0.02977	0.00062	0.99956	-21.95	-186.37	-28.04	1.719	1.484	23.66
15	66	Board	A0	2	207.97	-362.78	-28.65	-0.08	0.0928	0.99247	208.41	-362.24	-27.7	1.18	-0.951	25.14
16	67	Board	A0	2	524.61	268.02	-28.51	-0.0163	-0.00123	0.99987	524.1	266.85	-27.22	1.818	-1.29	23.6
17	68	Board	A0	3	575.05	170.15	-27.14	0.01722	0.03205	0.99934	574.4	170.26	-27.15	0.663	0.006	24.1
18	69	Board	A0	2	6.91	-280.99	-27.23	-0.00089	0.03112	0.99952	6.58	-279.46	-28	1.744	0.77	24.07
19	70	Board	A0	2	603.56	300.57	-28.34	-0.06715	0.04327	0.9968	603.03	299.84	-27.11	1.527	-1.233	23.99
20	73	Board	A0	2	222.01	337.1	-29.9	-0.0437	0.11256	0.99268	223.01	334.05	-27.67	3.914	-2.235	25.6
21	75	Board	A0	2	-27.07	199.16	-28.78	-0.06027	0.14192	0.98804	-24.94	196.46	-28.04	3.523	-0.736	26.71
22	76	Board	A0	2	686.17	164.68	-26.47	-0.08323	0.00998	0.99648	685.86	166	-26.98	1.45	0.514	23.85
23	77	Arm1	A0	2	17.53	194.86	-28.25	-0.02333	0.14876	0.9886						26.07
24	79	Board	A0	2	311.53	-157.96	-26.95	0.02919	-0.01163	0.99951	311.73	-158.5	-27.54	0.827	0.59	24.03
25	82	Board	A0	2	219.4	300.84	-30.04	0.00365	0.102	0.99478	220.31	298.19	-27.68	3.663	-2.363	25.25
26	85	Board	A0	3	504.05	-313.36	-27.37	-0.00147	-0.03538	0.99937	503.43	-312.87	-27.25	0.799	-0.124	24.1
27	88	Board	A0	2	767.2	313.41	-25.61	0.05089	-0.00066	0.9987	767.09	314.94	-26.86	1.978	1.252	23.68
28	90	Board	A0	2	644.9	315.86	-27.76	-0.00476	-0.03483	0.99938	644.39	315.79	-27.04	0.882	-0.718	23.64
29	91	Board	A0	2	725.06	326.79	-26.9	-0.04318	-0.00677	0.99904	724.61	327.11	-26.92	0.553	0.023	23.76
30	92	Board	A0	2	644.97	-186.59	-26.03	0.03072	-0.01393	0.99943	644.42	-185.49	-27.04	1.592	1.007	24.18
31	94	Board	A0	2	875.22	168.95	-22.69	0.07264	0.05485	0.99585	876.38	172.13	-26.7	5.244	4.006	24.44
32	95	Board	A0	3	184.79	-273.16	-27.83	-0.00258	0.02727	0.99962	185.04	-272.99	-27.73	0.315	-0.097	24.35
33	96	Board	A0	3	369.18	-185.71	-27.51	0.02262	0.01808	0.99958	369.1	-186.1	-27.46	0.4	-0.049	24.16
34	97	Board	A0	2	303.36	-359.54	-26.35	-0.00502	0.02288	0.99973	303.02	-359.03	-27.55	1.344	1.197	24.46
35	98	Board	A0	2	577.15	315.74	-29.24	-0.02274	0.04433	0.99876	576.48	314.67	-27.15	2.445	-2.094	24.33
36	100	Board	A0	2	803.8	169.01	-24.93	0.01883	-0.01657	0.99969	803.92	171.12	-26.81	2.829	1.882	23.24
37	103	Board	A0	3	104.64	-186.37	-27.12	-0.00058	0.0069	0.99998	105.03	-186.33	-27.85	0.825	0.726	24.45
38	104	Board	A0	2	827.17	235.41	-24.77	0.08284	0.04199	0.99568	827.64	237.83	-26.77	3.174	1.996	24.77
39	105	Board	A0	3	524.5	-266.88	-27.45	-0.00083	0.01085	0.99994	523.86	-266.44	-27.22	0.811	-0.234	24.19
40	118	unknown		3	323.07	-174.22	47.26	0.01395	-0.99423	0.10635						24.41
41	122	Ellbow		3	360.07	-173.45	46.18	0.01114	-0.99429	0.10615						24.51
42	143	Arm2		2	339.81	-138.06	229.48	-0.73183	-0.67663	0.08126						24.18
43	144	Arm2		3	362.95	-156.86	158.05	-0.03961	-0.99309	0.11048						24.37
44	147	FingerA		3	382.82	-143.67	226.6	0.42827	-0.9012	0.06646						24.01
45	148	Arm2		3	366.84	-142.43	264.66	-0.04437	-0.99493	0.09027						24.39
46	178	FingerB		2	287.31	-120.45	315.29	-0.66387	-0.73035	-0.1608						22.88
47	179	FingerB		2	329.61	-140.32	313.07	-0.6954	-0.15177	0.70241						26.39
48	198	Arm1		2	268.82	-53.79	84.52	0.01757	0.02587	0.99951						24.56
49	200	unknown		2	199.61	-28.62	110.03	-0.06794	-0.01026	0.99764						23.25
50	204	unknown		2	198.89	116.09	120.31	0.05577	0.03761	0.99774						24.15
51	208	Board	rail	3	626.32	-98.56	-6.78	0.00383	-0.01334	0.9999	631.01	-98.43	-7.71	4.781	0.93	23.72
52	210	Board	rail	2	129.76	-7.26	-6.27	0.028	0.01002	0.99956	122.63	-13.98	-0.72	11.263	-5.553	23.35
53	214	unknown		3	532.15	-7.88	-7.33	-0.02081	0.05531	0.99825						24.05
54	217	Board	rail	2	730.24	-8.43	-5.0	-0.01833	-0.01881	0.99966	732.39	-23.88	7.39	19.917	-12.387	23.61
55	229	Arm1		3	271.15	-142.19	79.27	0.01827	-0.03009	0.99938						24.04
56	243	Arm1		3	270.52	-175.76	42.77	0.0038	-0.99933	-0.03654						24.16
57	camera_id	x_mm	y_mm	z_mm	dir_x	dir_y	dir_z
58	cam0	335.07	-885.3	469.64	-0.06533	0.89189	-0.44751
59	cam1	297.15	-462.72	780.65	0.09465	0.43305	-0.89639
60	cam2	714.94	-666.29	727.22	-0.42921	0.59338	-0.68094