diff --git a/pipeline/2_estimate_camera_from_observations.py b/pipeline/2_estimate_camera_from_observations.py
index 447c64e..f6197c7 100644
--- a/pipeline/2_estimate_camera_from_observations.py
+++ b/pipeline/2_estimate_camera_from_observations.py
@@ -224,6 +224,13 @@ def load_marker_lookup(robot_json_path: str) -> Dict[int, Dict[str, Any]]:
     with open(robot_json_path, "r", encoding="utf-8") as f:
         robot_data = json.load(f)
 
+    length_units = str(robot_data.get("units", {}).get("length", "")).strip().lower()
+    length_scale = 1.0
+    if length_units in ("mm", "millimeter", "millimeters"):
+        length_scale = 1.0 / 1000.0
+    elif length_units in ("cm", "centimeter", "centimeters"):
+        length_scale = 1.0 / 100.0
+
     marker_lookup: Dict[int, Dict[str, Any]] = {}
 
     links = robot_data.get("links", {})
@@ -254,7 +261,7 @@ def load_marker_lookup(robot_json_path: str) -> Dict[int, Dict[str, Any]]:
         rotation = get_marker_rotation(marker)
 
         marker_lookup[marker_id] = {
-            "position": np.array(pos, dtype=np.float32),
+            "position": np.array(pos, dtype=np.float32) * np.float32(length_scale),
             "rotation": rotation,
             "on": marker.get("on", "unknown"),
         }
@@ -690,7 +697,7 @@ def main() -> None:
     # B ≈ R A + t  ->  world = R * camera + t
     R_cw_init, t_cw_init = rigid_transform_no_scale(marker_cam_centers, X_world)
     R_wc_init = R_cw_init.T
-    t_wc_init = (-R_wc_init @ t_cw_init).reshape(3)
+    t_wc_init = -(R_wc_init @ t_cw_init).reshape(3)
 
     omega_init = cv2.Rodrigues(R_wc_init)[0].reshape(3)
     theta0 = pack_params(omega_init, t_wc_init)
diff --git a/pipeline/2_estimate_camera_pose_from_aruco_json.py b/pipeline/2_estimate_camera_pose_from_aruco_json.py
index 475b5ea..9cc3b50 100644
--- a/pipeline/2_estimate_camera_pose_from_aruco_json.py
+++ b/pipeline/2_estimate_camera_pose_from_aruco_json.py
@@ -126,7 +126,13 @@ def build_marker_lookup(robot_data):
 
     marker_lookup = {}
 
-    
+    length_units = str(robot_data.get("units", {}).get("length", "")).strip().lower()
+    length_scale = 1.0
+    if length_units in ("mm", "millimeter", "millimeters"):
+        length_scale = 1.0 / 1000.0
+    elif length_units in ("cm", "centimeter", "centimeters"):
+        length_scale = 1.0 / 100.0
+
     markers = []
 
     # Neues Format: links -> Board -> markers
@@ -169,7 +175,7 @@ def build_marker_lookup(robot_data):
             "position": np.array(
                 pos,
                 dtype=np.float32
-            ),
+            ) * np.float32(length_scale),
             "rotation": rotation,
             "on": marker.get("on", "unknown")
         }
diff --git a/pipeline/render_3a_aruco_detection.json b/pipeline/render_3a_aruco_detection.json
index 3d4660a..2796b2d 100644
--- a/pipeline/render_3a_aruco_detection.json
+++ b/pipeline/render_3a_aruco_detection.json
@@ -1,6 +1,6 @@
 {
   "schema_version": "1.0",
-  "created_utc": "2026-05-29T05:34:15Z",
+  "created_utc": "2026-05-29T06:03:07Z",
   "vision_config": {
     "MarkerType": "DICT_4X4_250",
     "MarkerSize": 0.025
@@ -46,7 +46,7 @@
   },
   "detections": [
     {
-      "observation_id": "8c42df77-c894-4ea1-8d70-bc7242ec953b",
+      "observation_id": "f95b7df5-d56a-4e50-baae-ed98245255b0",
       "type": "aruco",
       "marker_id": 124,
       "marker_size_m": 0.025,
@@ -100,7 +100,7 @@
       "confidence": 0.6862086405991146
     },
     {
-      "observation_id": "549a7c31-573c-47d5-906d-2abdaf0e2163",
+      "observation_id": "d6a89cdb-43b2-4494-84c8-47d5de39baa8",
       "type": "aruco",
       "marker_id": 243,
       "marker_size_m": 0.025,
@@ -154,7 +154,7 @@
       "confidence": 0.953171926139578
     },
     {
-      "observation_id": "c4fc6e32-92a6-499d-b09d-9d1d88ced7c0",
+      "observation_id": "05209fc7-239c-43ca-8cf8-7566f456041d",
       "type": "aruco",
       "marker_id": 122,
       "marker_size_m": 0.025,
@@ -208,7 +208,7 @@
       "confidence": 0.5964639370258038
     },
     {
-      "observation_id": "4462ae69-6f30-4281-9ace-bc8cac13cb07",
+      "observation_id": "52848f64-67df-4213-91b2-ffdfe9064ee2",
       "type": "aruco",
       "marker_id": 102,
       "marker_size_m": 0.025,
@@ -262,7 +262,7 @@
       "confidence": 0.3578323322772018
     },
     {
-      "observation_id": "233fe57c-1886-4fce-914e-d6656f706474",
+      "observation_id": "7bc13599-644e-4dbd-8ad2-ad5f80056d8c",
       "type": "aruco",
       "marker_id": 229,
       "marker_size_m": 0.025,
@@ -316,7 +316,7 @@
       "confidence": 0.4396423002158715
     },
     {
-      "observation_id": "cfdcf058-d469-4ba1-92bf-b86c9ae9c486",
+      "observation_id": "41826dad-da5d-4fb1-87e4-757a2c21171a",
       "type": "aruco",
       "marker_id": 210,
       "marker_size_m": 0.025,
@@ -370,7 +370,7 @@
       "confidence": 0.23718801109435655
     },
     {
-      "observation_id": "7908f25a-83ca-43b4-a7e9-17a6b3dd00d6",
+      "observation_id": "f354d0f3-34a9-428e-887d-a4364525a2b0",
       "type": "aruco",
       "marker_id": 198,
       "marker_size_m": 0.025,
@@ -424,7 +424,7 @@
       "confidence": 0.27797680859006363
     },
     {
-      "observation_id": "70f6536d-4ec4-4681-bf8b-855004a93f19",
+      "observation_id": "447b944c-8faf-41e5-b724-af8f221c64fc",
       "type": "aruco",
       "marker_id": 205,
       "marker_size_m": 0.025,
@@ -478,7 +478,7 @@
       "confidence": 0.19676029488014599
     },
     {
-      "observation_id": "46c80ca9-5820-4672-8b09-34c7d7d2051f",
+      "observation_id": "51c410f3-45e5-4d70-9bd8-535c1306e4cf",
       "type": "aruco",
       "marker_id": 206,
       "marker_size_m": 0.025,
@@ -532,7 +532,7 @@
       "confidence": 0.23511362818048806
     },
     {
-      "observation_id": "66327b90-f891-4c45-9a90-e469527a527d",
+      "observation_id": "61058f2a-9c08-4073-a43e-7a907cf8fb75",
       "type": "aruco",
       "marker_id": 207,
       "marker_size_m": 0.025,
diff --git a/pipeline/render_3a_camera_pose.json b/pipeline/render_3a_camera_pose.json
index 87eb5d8..14be9b7 100644
--- a/pipeline/render_3a_camera_pose.json
+++ b/pipeline/render_3a_camera_pose.json
@@ -1,6 +1,6 @@
 {
   "schema_version": "1.0",
-  "created_utc": "2026-05-29T05:34:16Z",
+  "created_utc": "2026-05-29T06:03:09Z",
   "source": {
     "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\pipeline\\render_3a_aruco_detection.json",
     "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\robot.json"
@@ -52,57 +52,17 @@
         4,
         5,
         6,
-        7,
-        8,
-        9,
-        10,
-        11,
-        12,
-        13,
-        14,
-        15,
-        16,
-        17,
-        18,
-        19,
-        20,
-        21,
-        22,
-        23,
-        24,
-        25,
-        26,
-        27
+        7
       ],
       "rms": [
-        1.0114134663676055,
-        0.6639182528097215,
-        0.5739469492087472,
-        0.5286835626522526,
-        0.4694051705223743,
-        0.3969964464975006,
-        0.3151761230050886,
-        0.22825811420039874,
-        0.14334708153431971,
-        0.07618149778337073,
-        0.04802982967284346,
-        0.04035287824536157,
-        0.033959902522562355,
-        0.028057435706365975,
-        0.022767087572099415,
-        0.018281990481919433,
-        0.01422702734760535,
-        0.01058775888038278,
-        0.007566043482152367,
-        0.005123936904466261,
-        0.003261157779092087,
-        0.0018882632118665536,
-        0.0007684323923658777,
-        0.0001398894364081004,
-        4.2590187754836205e-05,
-        4.161871278906256e-05,
-        4.161660887281736e-05,
-        4.16166073463803e-05
+        0.013277718382545302,
+        0.0007609616355193204,
+        8.749646663679635e-05,
+        4.47706418004794e-05,
+        4.174347547390919e-05,
+        4.162024607264234e-05,
+        4.161840648707478e-05,
+        4.16183986833156e-05
       ],
       "lambda": [
         0.001,
@@ -112,158 +72,138 @@
         6.25e-05,
         3.125e-05,
         1.5625e-05,
-        7.8125e-06,
-        3.90625e-06,
-        1.953125e-06,
-        9.765625e-07,
-        4.8828125e-07,
-        2.44140625e-07,
-        1.220703125e-07,
-        6.103515625e-08,
-        3.0517578125e-08,
-        1.52587890625e-08,
-        7.62939453125e-09,
-        3.814697265625e-09,
-        1.9073486328125e-09,
-        9.5367431640625e-10,
-        4.76837158203125e-10,
-        2.384185791015625e-10,
-        1.1920928955078125e-10,
-        5.960464477539063e-11,
-        2.980232238769531e-11,
-        1.4901161193847657e-11,
-        7.450580596923828e-12
+        7.8125e-06
       ]
     },
     "residual_rms_px": 0.10430687360172344,
     "residual_median_px": 0.07433889289506992,
     "residual_max_px": 0.1640622076531485,
-    "sigma2_normalized": 6.92776802797649e-09
+    "sigma2_normalized": 6.928364432840307e-09
   },
   "camera_pose": {
     "world_to_camera": {
       "rotation_matrix": [
         [
-          0.7620593309402466,
-          -0.647443413734436,
-          0.009086735546588898
+          0.7620592713356018,
+          -0.6474434733390808,
+          0.009086829610168934
         ],
         [
-          -0.27515384554862976,
-          -0.33650344610214233,
+          -0.2751538157463074,
+          -0.3365034759044647,
           -0.9005863666534424
         ],
         [
-          0.5861364603042603,
-          0.6837999820709229,
+          0.586136519908905,
+          0.6837999224662781,
           -0.4345821440219879
         ]
       ],
       "translation_m": [
-        -273.4744567871094,
-        192.1861572265625,
-        922.5557250976562
+        -0.27347445487976074,
+        0.1921861469745636,
+        0.922555685043335
       ],
       "rvec_rad": [
-        1.9264447184295097,
-        -0.7016308556001063,
-        0.45266440822553355
+        1.9264447207058966,
+        -0.7016308952348262,
+        0.4526645615419089
       ]
     },
     "camera_in_world": {
       "position_m": [
-        -279.4590148925781,
-        -743.2315063476562,
-        576.491455078125
+        -0.2794590890407562,
+        -0.743231475353241,
+        0.5764914751052856
       ],
       "position_mm": [
-        -279459.0,
-        -743231.5,
-        576491.4375
+        -279.4590759277344,
+        -743.2314453125,
+        576.491455078125
       ],
       "orientation_deg": {
         "roll": 122.43758392333984,
-        "pitch": -35.88331624307256,
-        "yaw": -19.852935791015625
+        "pitch": -35.883320699421276,
+        "yaw": -19.852933883666992
       }
     },
     "uncertainty": {
       "pose_covariance_6x6": [
         [
-          3.9943919468012445e-06,
-          1.1154473298546209e-06,
-          -1.118897886488766e-06,
-          -0.0005765194014531353,
-          0.00041358722245405364,
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+          3.994733283769376e-06,
+          1.1155413505842761e-06,
+          -1.1189873341773177e-06,
+          -5.765674568291733e-07,
+          4.13621515183102e-07,
+          2.218896511763385e-06
         ],
         [
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-          8.886589103748773e-07,
-          -2.3371494827736547e-06,
-          -0.0005830464121191728,
-          0.00045167407920918234,
-          0.0022451714145222145
+          1.1155413505843926e-06,
+          8.887333788347529e-07,
+          -2.337344290764031e-06,
+          -5.830951422961517e-07,
+          4.5171173864670057e-07,
+          2.245361353962327e-06
         ],
         [
-          -1.1188978864887337e-06,
-          -2.337149482773653e-06,
-          7.81346071908241e-06,
-          0.0017024049446432569,
-          -0.0013917849716835104,
-          -0.006611198495461098
+          -1.1189873341777406e-06,
+          -2.33734429076412e-06,
+          7.81411446076644e-06,
+          1.7025470729450462e-06,
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+          -6.611757311752694e-06
         ],
         [
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-          -0.0005830464121191726,
-          0.0017024049446432584,
-          0.4034039987420133,
-          -0.3201198249762993,
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+          -5.765674568292605e-07,
+          -5.830951422961595e-07,
+          1.7025470729450078e-06,
+          4.0343769578632003e-07,
+          -3.2014652246215944e-07,
+          -1.551799855987555e-06
         ],
         [
-          0.00041358722245404654,
-          0.0004516740792091824,
-          -0.001391784971683514,
-          -0.3201198249762996,
-          0.264775180218034,
-          1.2494317575832103
+          4.1362151518317385e-07,
+          4.517117386467093e-07,
+          -1.3919010913021083e-06,
+          -3.201465224621612e-07,
+          2.6479725503078397e-07,
+          1.2495372714796657e-06
         ],
         [
-          0.002218709311264482,
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-          1.2494317575832097,
-          6.052706569330424
+          2.2188965117637215e-06,
+          2.245361353962358e-06,
+          -6.61175731175255e-06,
+          -1.5517998559875556e-06,
+          1.2495372714796598e-06,
+          6.053224659085346e-06
         ]
       ],
       "parameter_std": {
         "rvec_std_deg": [
-          0.11451120140577908,
-          0.05401199046483257,
-          0.16015641874171344
+          0.11451609402420855,
+          0.05401425348466939,
+          0.16016311863697794
         ],
         "tvec_std_m": [
-          0.6351409282529455,
-          0.51456309644011,
-          2.460224902184844
+          0.0006351674549174572,
+          0.0005145845460473759,
+          0.0024603301931011914
         ]
       },
       "camera_center_std_m": [
-        2.1995968929483474,
-        1.1548044194575717,
-        1.510385159357917
+        0.0017296313653151708,
+        0.0027590353584458853,
+        0.0023603543530536296
       ],
       "camera_center_std_mm": [
-        2199.5968929483474,
-        1154.8044194575718,
-        1510.385159357917
+        1.729631365315171,
+        2.7590353584458853,
+        2.3603543530536295
       ],
       "orientation_std_deg": {
-        "roll": 0.08832300327411201,
-        "pitch": 0.13890967443140134,
-        "yaw": 0.020881373905939325
+        "roll": 0.1051783179305808,
+        "pitch": 0.14376921142986104,
+        "yaw": 0.02230052560885805
       }
     }
   },
diff --git a/pipeline/render_3b_aruco_detection.json b/pipeline/render_3b_aruco_detection.json
index b19655b..4801ba7 100644
--- a/pipeline/render_3b_aruco_detection.json
+++ b/pipeline/render_3b_aruco_detection.json
@@ -1,6 +1,6 @@
 {
   "schema_version": "1.0",
-  "created_utc": "2026-05-29T05:34:15Z",
+  "created_utc": "2026-05-29T06:03:08Z",
   "vision_config": {
     "MarkerType": "DICT_4X4_250",
     "MarkerSize": 0.025
@@ -46,7 +46,7 @@
   },
   "detections": [
     {
-      "observation_id": "1be932ff-7263-4ced-83b8-58349f38889f",
+      "observation_id": "df664593-ada8-4c44-a00f-8936a037e7eb",
       "type": "aruco",
       "marker_id": 243,
       "marker_size_m": 0.025,
@@ -100,7 +100,7 @@
       "confidence": 0.8522257252911212
     },
     {
-      "observation_id": "66a033df-340c-4cab-b2db-1766eaeecbd5",
+      "observation_id": "a7f8731a-1479-4db3-af34-2b5542362b93",
       "type": "aruco",
       "marker_id": 122,
       "marker_size_m": 0.025,
@@ -154,7 +154,7 @@
       "confidence": 0.2874514216623714
     },
     {
-      "observation_id": "9189022c-4502-4196-adb3-e3beb9778552",
+      "observation_id": "3cf6936d-c17e-46be-960e-fec43a1a8a34",
       "type": "aruco",
       "marker_id": 229,
       "marker_size_m": 0.025,
@@ -208,7 +208,7 @@
       "confidence": 0.5547001883002887
     },
     {
-      "observation_id": "81a8944e-c517-4f33-a9af-826ccb1e4500",
+      "observation_id": "1eeec489-e960-4f11-bcc5-d84cfd85678d",
       "type": "aruco",
       "marker_id": 208,
       "marker_size_m": 0.025,
@@ -262,7 +262,7 @@
       "confidence": 0.6072727689079809
     },
     {
-      "observation_id": "e8e63ed2-0a0d-4619-88bd-512e3b6462af",
+      "observation_id": "7f948349-46ae-4ada-bf71-a87a11853b58",
       "type": "aruco",
       "marker_id": 215,
       "marker_size_m": 0.025,
@@ -316,7 +316,7 @@
       "confidence": 0.6168610191628993
     },
     {
-      "observation_id": "79675f29-63c3-45bc-8e37-779d5a97d76a",
+      "observation_id": "22b325e5-012e-458f-8841-176fddce4f01",
       "type": "aruco",
       "marker_id": 214,
       "marker_size_m": 0.025,
@@ -370,7 +370,7 @@
       "confidence": 0.5524643209674667
     },
     {
-      "observation_id": "8e7e7d7d-531f-4f28-a777-882aa927f15e",
+      "observation_id": "297f15ef-5a04-4fde-ad31-715064472cab",
       "type": "aruco",
       "marker_id": 211,
       "marker_size_m": 0.025,
@@ -424,7 +424,7 @@
       "confidence": 0.5730650050844824
     },
     {
-      "observation_id": "19153e12-9f50-48c7-8069-2ea0f9214e36",
+      "observation_id": "5a57e9e6-1e2e-4061-aafe-72b4d412b042",
       "type": "aruco",
       "marker_id": 198,
       "marker_size_m": 0.025,
@@ -478,7 +478,7 @@
       "confidence": 0.4163346774695628
     },
     {
-      "observation_id": "df22043b-b438-4a0e-a53f-4aa96262911c",
+      "observation_id": "8b92d6ef-360b-40af-9d92-c1f0e013c0ee",
       "type": "aruco",
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diff --git a/pipeline/render_3b_camera_pose.json b/pipeline/render_3b_camera_pose.json
index 5ccf3d7..d70fff4 100644
--- a/pipeline/render_3b_camera_pose.json
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 {
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diff --git a/pipeline/render_3c_aruco_detection.json b/pipeline/render_3c_aruco_detection.json
index b960b86..98ca3f6 100644
--- a/pipeline/render_3c_aruco_detection.json
+++ b/pipeline/render_3c_aruco_detection.json
@@ -1,6 +1,6 @@
 {
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diff --git a/pipeline/render_3c_camera_pose.json b/pipeline/render_3c_camera_pose.json
index 84da36e..3306c55 100644
--- a/pipeline/render_3c_camera_pose.json
+++ b/pipeline/render_3c_camera_pose.json
@@ -1,6 +1,6 @@
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