diff --git a/data/robot/robot.json b/data/robot/robot.json
index 4b90a63..49b8b6c 100644
--- a/data/robot/robot.json
+++ b/data/robot/robot.json
@@ -21,7 +21,7 @@
     "cameraPosition__3": [-200, -900, 200],
     "cameraPosition__4": [1200, 200, 300],
     "cameraPosition_a":[-300, -800,500],
-    "cameraPosition":[300, -800,550],
+    "cameraPosition":[300, -500,1450],
     "cameraPosition_c":[600, -500,600],
     "cameraTarget": [210, -200, 180],
     "cameraUpVector": [0, 0, 1],
@@ -39,7 +39,7 @@
     "lensDirt": true,
     "lensDirtStrength": 0.08,
     "dofEnabled": true,
-    "dofFStop": 16,
+    "dofFStop": 11,
     "arucoDust": false,
     "arucoDustStrength": 0.00005,
     "localizedBlur": false,
@@ -214,7 +214,68 @@
         {"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":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},
+        {"id": 64, "position": [-21.27, -188.23, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 65, "position": [803.39, -297.37, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 66, "position": [209.75, -363.23, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"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},
+        {"id": 72, "position": [440.99, 194.32, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"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": [
         {
@@ -423,8 +484,8 @@
         {"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":101, "name": "aruco_101", "position":[ 24.75, -182, -24.75],"normal":[ 1,0,-1]},
-        {"id":102, "name": "aruco_102", "position":[-24.75, -182, -24.75],"normal":[-1,0,-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]}
 
diff --git a/data/simulation/debug/markers.json b/data/simulation/debug/markers.json
index 9775064..f7ac0e7 100644
--- a/data/simulation/debug/markers.json
+++ b/data/simulation/debug/markers.json
@@ -233,6 +233,1566 @@
       1.0
     ]
   },
+  {
+    "name": "Board_marker_46",
+    "id": 46,
+    "link": "Board",
+    "position_m": [
+      0.5367100238800049,
+      0.18544000387191772,
+      -0.02680000104010105
+    ],
+    "position_mm": [
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+      185.44000387191772,
+      -26.80000104010105
+    ],
+    "rotation_quaternion": [
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+    ],
+    "normal": [
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+      1.0
+    ]
+  },
+  {
+    "name": "Board_marker_47",
+    "id": 47,
+    "link": "Board",
+    "position_m": [
+      0.3442299962043762,
+      -0.2865400016307831,
+      -0.02680000104010105
+    ],
+    "position_mm": [
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+      -286.5400016307831,
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+  },
+  {
+    "name": "Board_marker_48",
+    "id": 48,
+    "link": "Board",
+    "position_m": [
+      0.6886900067329407,
+      -0.32071998715400696,
+      -0.02680000104010105
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+    "position_mm": [
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+    ]
+  },
+  {
+    "name": "Board_marker_49",
+    "id": 49,
+    "link": "Board",
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+      0.15832999348640442,
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+  {
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+  {
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     "name": "aruco_198",
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@@ -546,8 +2106,8 @@
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diff --git a/data/simulation/debug/render.png b/data/simulation/debug/render.png
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diff --git a/setup/generateTabletopPDF/A0_46Arucos_25mm_Seet223.json b/setup/generateTabletopPDF/A0_46Arucos_25mm_Seet223.json
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index 0000000..694bb0c
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diff --git a/setup/generateTabletopPDF/A0_60Arucos_25mm_Seet223.json b/setup/generateTabletopPDF/A0_60Arucos_25mm_Seet223.json
index 508df9b..d8fc77b 100644
--- a/setup/generateTabletopPDF/A0_60Arucos_25mm_Seet223.json
+++ b/setup/generateTabletopPDF/A0_60Arucos_25mm_Seet223.json
@@ -9,7 +9,7 @@
   "num_arucos": 60,
   "aruco_size_mm": 25.0,
   "aruco_dictionary": "DICT_4X4_250",
-  "aruco_start_id": 103,
+  "aruco_start_id": 46,
   "page_border_margin_mm": 50.0,
   "forbidden_rectangle_mm": {
     "x": 318.5,
@@ -19,845 +19,65 @@
   },
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diff --git a/setup/generateTabletopPDF/A0_60Arucos_25mm_Seet223.pdf b/setup/generateTabletopPDF/A0_60Arucos_25mm_Seet223.pdf
index 7f4f21e..9cf665e 100644
--- a/setup/generateTabletopPDF/A0_60Arucos_25mm_Seet223.pdf
+++ b/setup/generateTabletopPDF/A0_60Arucos_25mm_Seet223.pdf
@@ -2,7 +2,7 @@
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+  /Subject (A0 poster with random ArUco placement) /Title (A0_60Arucos_25mm_Seet223) /Trapped /False
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 <<
 /ID 
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-/Info 5 0 R
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 %%EOF
diff --git a/setup/generateTabletopPDF/a0_aruco.py b/setup/generateTabletopPDF/a0_aruco.py
index 9ef222d..00c6473 100644
--- a/setup/generateTabletopPDF/a0_aruco.py
+++ b/setup/generateTabletopPDF/a0_aruco.py
@@ -9,6 +9,7 @@ from typing import List, Tuple
 
 from reportlab.pdfgen import canvas
 from reportlab.lib.units import mm
+from reportlab.pdfbase import pdfmetrics
 
 try:
     import cv2
@@ -27,7 +28,7 @@ ORIENTATION = "portrait"      # "portrait" oder "landscape"
 
 NUM_ARUCOS = 60
 ARUCO_SIZE_MM = 25.0
-ARUCO_START_ID = 103          # erster Marker aus DICT_4X4_250
+ARUCO_START_ID = 46          # erster Marker aus DICT_4X4_250
 SEED = 223                    # Zufalls-Seed für reproduzierbare Verteilung
 
 PAGE_BORDER_MARGIN_MM = 50.0  # Abstand aller Marker vom Seitenrand
@@ -37,6 +38,9 @@ FORBIDDEN_RECT_H_MM = 1000.0
 FORBIDDEN_RECT_MARGIN_MM = 30.0   # keine ArUcos innerhalb dieses Abstands
 
 LINE_WIDTH_MM = 1.0           # Linienstärke des Rechtecks
+TEXT_FONT = "Times-Roman"
+TEXT_SIZE_PT = 8
+TEXT_GAP_MM = 4.0
 
 OUTPUT_BASENAME = f"A0_{NUM_ARUCOS}Arucos_{int(ARUCO_SIZE_MM)}mm_Seet{SEED}"
 
@@ -151,7 +155,8 @@ def draw_aruco_vector(
         for col in range(modules):
             if pattern[r][col] == 1:
                 cell_x_mm = x_mm + col * cell_mm
-                cell_y_mm = y_mm + (modules - 1 - r) * cell_mm
+                #cell_y_mm = y_mm + (modules - 1 - r) * cell_mm
+                cell_y_mm = y_mm + r * cell_mm
                 c.rect(
                     mm_to_pt(cell_x_mm),
                     mm_to_pt(page_h_mm - cell_y_mm - cell_mm),
@@ -162,6 +167,24 @@ def draw_aruco_vector(
                 )
 
 
+def draw_aruco_label(
+    c: canvas.Canvas,
+    x_mm: float,
+    y_mm: float,
+    size_mm: float,
+    page_h_mm: float,
+    marker_id: int,
+) -> None:
+    c.setFont(TEXT_FONT, TEXT_SIZE_PT)
+    text = str(marker_id)
+    text_width_pt = pdfmetrics.stringWidth(text, TEXT_FONT, TEXT_SIZE_PT)
+    text_x_pt = mm_to_pt(x_mm + size_mm / 2.0) - text_width_pt / 2.0
+    font = pdfmetrics.getFont(TEXT_FONT)
+    ascent_mm = (font.face.ascent / 1000.0) * TEXT_SIZE_PT * 0.352777777777778
+    text_baseline_y_mm = y_mm + size_mm + TEXT_GAP_MM + ascent_mm
+    c.drawString(text_x_pt, mm_to_pt(page_h_mm - text_baseline_y_mm), text)
+
+
 def place_markers(
     page_w_mm: float,
     page_h_mm: float,
@@ -295,27 +318,27 @@ def main() -> None:
         mm_to_pt(page_h_mm - (origin_y_mm + ARROW_LEN_MM - 4)),
     )
 
-    # Y-Achse (grün, nach links)
+    # Y-Achse (grün, nach rechts)
     c.setStrokeColorRGB(0, 0.7, 0)
 
     c.line(
         mm_to_pt(origin_x_mm),
         mm_to_pt(page_h_mm - origin_y_mm),
-        mm_to_pt(origin_x_mm - ARROW_LEN_MM),
+        mm_to_pt(origin_x_mm + ARROW_LEN_MM),
         mm_to_pt(page_h_mm - origin_y_mm),
     )
 
     # Pfeilspitze
     c.line(
-        mm_to_pt(origin_x_mm - ARROW_LEN_MM),
+        mm_to_pt(origin_x_mm + ARROW_LEN_MM),
         mm_to_pt(page_h_mm - origin_y_mm),
-        mm_to_pt(origin_x_mm - ARROW_LEN_MM + 4),
+        mm_to_pt(origin_x_mm + ARROW_LEN_MM - 4),
         mm_to_pt(page_h_mm - origin_y_mm - 4),
     )
     c.line(
-        mm_to_pt(origin_x_mm - ARROW_LEN_MM),
+        mm_to_pt(origin_x_mm + ARROW_LEN_MM),
         mm_to_pt(page_h_mm - origin_y_mm),
-        mm_to_pt(origin_x_mm - ARROW_LEN_MM + 4),
+        mm_to_pt(origin_x_mm + ARROW_LEN_MM - 4),
         mm_to_pt(page_h_mm - origin_y_mm + 4),
     )
 
@@ -332,39 +355,59 @@ def main() -> None:
             marker_id=item["id"],
             page_h_mm=page_h_mm,
         )
+        draw_aruco_label(
+            c=c,
+            x_mm=item["x_mm"],
+            y_mm=item["y_mm"],
+            size_mm=item["size_mm"],
+            page_h_mm=page_h_mm,
+            marker_id=item["id"],
+        )
 
     c.showPage()
     c.save()
 
     # JSON mit Positionen
     with json_path.open("w", encoding="utf-8") as f:
-        json.dump(
-            {
-                "page_format": PAGE_FORMAT,
-                "orientation": ORIENTATION,
-                "page_size_mm": {"width": page_w_mm, "height": page_h_mm},
-                "seed": SEED,
-                "num_arucos": NUM_ARUCOS,
-                "aruco_size_mm": ARUCO_SIZE_MM,
-                "aruco_dictionary": "DICT_4X4_250",
-                "aruco_start_id": ARUCO_START_ID,
-                "page_border_margin_mm": PAGE_BORDER_MARGIN_MM,
-                "forbidden_rectangle_mm": {
-                    "x": round(forbidden_rect.x, 2),
-                    "y": round(forbidden_rect.y, 2),
-                    "w": forbidden_rect.w,
-                    "h": forbidden_rect.h,
-                },
-                "forbidden_rectangle_margin_mm": FORBIDDEN_RECT_MARGIN_MM,
-                "placements": [
-                    {"id": p["id"],"position": [-1*round((p["y_mm"] + ARUCO_SIZE_MM / 2) - origin_y_mm, 2), round(origin_x_mm - (p["x_mm"] + ARUCO_SIZE_MM / 2), 2),-19],"normal": [0, 0, 1],"spin": 90}
-                    for p in placements
-                ],
+        meta = {
+            "page_format": PAGE_FORMAT,
+            "orientation": ORIENTATION,
+            "page_size_mm": {"width": page_w_mm, "height": page_h_mm},
+            "seed": SEED,
+            "num_arucos": NUM_ARUCOS,
+            "aruco_size_mm": ARUCO_SIZE_MM,
+            "aruco_dictionary": "DICT_4X4_250",
+            "aruco_start_id": ARUCO_START_ID,
+            "page_border_margin_mm": PAGE_BORDER_MARGIN_MM,
+            "forbidden_rectangle_mm": {
+                "x": round(forbidden_rect.x, 2),
+                "y": round(forbidden_rect.y, 2),
+                "w": forbidden_rect.w,
+                "h": forbidden_rect.h,
             },
-            f,
-            indent=2,
-            ensure_ascii=False,
-        )
+            "forbidden_rectangle_margin_mm": FORBIDDEN_RECT_MARGIN_MM,
+        }
+
+        f.write(json.dumps(meta, indent=2, ensure_ascii=False)[:-2])
+        f.write(',\n  "placements": [\n')
+
+        for index, p in enumerate(placements):
+            item = {
+                "id": p["id"],
+                "position": [
+                    round((p["y_mm"] + ARUCO_SIZE_MM / 2) - origin_y_mm, 2),
+                    -1*round(origin_x_mm - (p["x_mm"] + ARUCO_SIZE_MM / 2), 2),
+                    -27.3,
+                ],
+                "normal": [0, 0, 1],
+                "spin": 90,
+            }
+            line = json.dumps(item, ensure_ascii=False)
+            if index < len(placements) - 1:
+                line += ","
+            f.write(f"    {line}\n")
+
+        f.write("  ]\n}\n")
 
     print(f"PDF geschrieben:  {pdf_path.resolve()}")
     print(f"JSON geschrieben:  {json_path.resolve()}")