Claude: Lens-Distortions

2026-06-02 11:37:29 +02:00
parent ac81c2e0cb
commit 5ad956be81
91 changed files with 31707 additions and 23702 deletions
--- a/data/evaluations/Scene6/aruco_marker_poses.json
+++ b/data/evaluations/Scene6/aruco_marker_poses.json
@@ -1,7 +1,7 @@
 {
  "schema_version": "1.1",
  "stage": "corner_marker_poses",
-  "created_utc": "2026-06-02T05:05:08Z",
+  "created_utc": "2026-06-02T06:13:00Z",
  "summary": {
    "num_cameras": 7,
    "num_markers": 54
--- a/data/evaluations/Scene6/aruco_positions_initial.json
+++ b/data/evaluations/Scene6/aruco_positions_initial.json
@@ -1,7 +1,7 @@
 {
  "schema_version": "1.2",
  "stage": "initial_triangulation",
-  "created_utc": "2026-06-02T05:04:53Z",
+  "created_utc": "2026-06-02T06:12:48Z",
  "summary": {
    "num_cameras": 7,
    "num_markers": 54,
--- a/data/evaluations/Scene6/aruco_positions_optimized.json
+++ b/data/evaluations/Scene6/aruco_positions_optimized.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.2",
-  "created_utc": "2026-06-02T05:05:07Z",
+  "created_utc": "2026-06-02T06:13:00Z",
  "summary": {
    "num_cameras": 7,
    "num_markers": 54,
--- a/data/evaluations/Scene6/render_a_aruco_detection.json
+++ b/data/evaluations/Scene6/render_a_aruco_detection.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:04:48Z",
+  "created_utc": "2026-06-02T06:12:43Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
@@ -46,7 +46,7 @@
  },
  "detections": [
    {
-      "observation_id": "29fa79d9-5192-4a73-8e38-11288707c9d4",
+      "observation_id": "8477f30a-a01b-4f91-a689-d5376e3c5633",
      "type": "aruco",
      "marker_id": 219,
      "marker_size_m": 0.025,
@@ -100,7 +100,7 @@
      "confidence": 0.7395976147580084
    },
    {
-      "observation_id": "3d289bcb-7af7-4701-a39a-172c87ef56ba",
+      "observation_id": "70d4ff46-3672-4c90-8f20-9d0d26974260",
      "type": "aruco",
      "marker_id": 218,
      "marker_size_m": 0.025,
@@ -154,7 +154,7 @@
      "confidence": 0.9199148952780339
    },
    {
-      "observation_id": "006a4c7a-ec36-4f09-a611-77412b575b86",
+      "observation_id": "a451c7f6-629b-4ee3-aaac-1d248e7d1a2b",
      "type": "aruco",
      "marker_id": 114,
      "marker_size_m": 0.025,
@@ -208,7 +208,7 @@
      "confidence": 0.7654670561742843
    },
    {
-      "observation_id": "34434ef3-972e-45c9-b85b-535f3b98d73e",
+      "observation_id": "6164be08-3601-41dd-b412-ab6e7334f9d6",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
@@ -262,7 +262,7 @@
      "confidence": 0.8622084291764343
    },
    {
-      "observation_id": "3ae774e1-b9b4-4660-962e-552dad95217f",
+      "observation_id": "7d957af1-e60e-4e6b-80d8-d59efcbe5eaf",
      "type": "aruco",
      "marker_id": 120,
      "marker_size_m": 0.025,
@@ -316,7 +316,7 @@
      "confidence": 0.7239659906759255
    },
    {
-      "observation_id": "dc4286a4-727c-4dc6-b1e4-665829e35cd2",
+      "observation_id": "dfe6060b-ef58-45f4-b79c-b19cfc9a10d7",
      "type": "aruco",
      "marker_id": 248,
      "marker_size_m": 0.025,
@@ -370,7 +370,7 @@
      "confidence": 0.7503292024313934
    },
    {
-      "observation_id": "7a7b5999-f407-403f-b72c-2c84956b85ba",
+      "observation_id": "ee604706-f554-4092-ad4c-ec49e382a58e",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
@@ -424,7 +424,7 @@
      "confidence": 0.6926838055995629
    },
    {
-      "observation_id": "683a9c09-4855-4cc6-855b-2b1a8f8f9bf7",
+      "observation_id": "75ecfd24-51d2-4add-bcc3-b8da7f22cca6",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
@@ -478,7 +478,7 @@
      "confidence": 0.12146268776527554
    },
    {
-      "observation_id": "eb1757a5-10df-469e-a3a3-049c5f17ef7d",
+      "observation_id": "c1639adb-e4e8-405e-8736-b55638e3e5a8",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
@@ -532,7 +532,7 @@
      "confidence": 0.47917663082333867
    },
    {
-      "observation_id": "e2967c32-2799-495e-bd04-19b9a1c269ab",
+      "observation_id": "d98daf58-e297-459f-bda8-f744864605ec",
      "type": "aruco",
      "marker_id": 85,
      "marker_size_m": 0.025,
@@ -586,7 +586,7 @@
      "confidence": 0.4560525484643318
    },
    {
-      "observation_id": "6151b3a6-a5bc-46cc-aff1-9f3f420226ff",
+      "observation_id": "b5e7f090-0a0b-4189-961b-858473a6d24a",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
@@ -640,7 +640,7 @@
      "confidence": 0.5734281513866332
    },
    {
-      "observation_id": "4ba0d634-7578-4681-8a69-190fc620c47a",
+      "observation_id": "d43e3db6-3abd-4a2f-83d3-4e075d14d815",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
@@ -694,7 +694,7 @@
      "confidence": 0.525542829627259
    },
    {
-      "observation_id": "835877f5-551f-479e-a28e-cef71eaa8a37",
+      "observation_id": "b0a7e3cb-8411-4e1e-b6e4-641c35b13166",
      "type": "aruco",
      "marker_id": 215,
      "marker_size_m": 0.025,
@@ -748,7 +748,7 @@
      "confidence": 0.456911083882938
    },
    {
-      "observation_id": "2d912a0f-479d-49e6-9649-f100fb58595f",
+      "observation_id": "3471bd4d-c67e-46c5-beec-b4d4e1b42e64",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
@@ -802,7 +802,7 @@
      "confidence": 0.5038606541951498
    },
    {
-      "observation_id": "c7a1ed03-34d3-4a36-b4e1-ca83a9ce2bed",
+      "observation_id": "01dc6472-66e5-4583-8396-f45c3465f825",
      "type": "aruco",
      "marker_id": 105,
      "marker_size_m": 0.025,
@@ -856,7 +856,7 @@
      "confidence": 0.43622925667631085
    },
    {
-      "observation_id": "a930aeb4-a7b6-4440-8975-04d208d89dbd",
+      "observation_id": "4151668a-119a-48b2-9215-cde95795a260",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
@@ -910,7 +910,7 @@
      "confidence": 0.4417935296159658
    },
    {
-      "observation_id": "f83b604f-5e63-4e50-a714-8a88563f75b9",
+      "observation_id": "b489d888-3239-416b-9414-fa8e8faab5e6",
      "type": "aruco",
      "marker_id": 75,
      "marker_size_m": 0.025,
@@ -964,7 +964,7 @@
      "confidence": 0.29844141482805986
    },
    {
-      "observation_id": "228496a9-ada7-41ef-a7c9-f1707ef07c64",
+      "observation_id": "c7c33075-07e4-4551-9454-1abd9f7e8df9",
      "type": "aruco",
      "marker_id": 102,
      "marker_size_m": 0.025,
@@ -1018,7 +1018,7 @@
      "confidence": 0.2521714913889437
    },
    {
-      "observation_id": "aa54c57b-d1cb-41b0-9098-20fd567baddf",
+      "observation_id": "86513bf7-0a84-4dfa-a5d7-ebc449fdd653",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
@@ -1072,7 +1072,7 @@
      "confidence": 0.16306081184012358
    },
    {
-      "observation_id": "35aa2bec-ea3d-45e4-8c37-6d2dfe7778e2",
+      "observation_id": "3a1dc80a-0fe9-4e06-ad39-362565dadc38",
      "type": "aruco",
      "marker_id": 92,
      "marker_size_m": 0.025,
@@ -1126,7 +1126,7 @@
      "confidence": 0.31777455864589965
    },
    {
-      "observation_id": "163f8505-d4c0-404e-9fd6-5f51c31ee5ad",
+      "observation_id": "6b172ae4-d851-4781-ac94-e30bda9c0971",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
@@ -1180,7 +1180,7 @@
      "confidence": 0.3029173397022545
    },
    {
-      "observation_id": "6f5a4e89-5dd7-45cf-b3c0-824aa68454f4",
+      "observation_id": "15d90a8f-46ad-4db9-b0a3-3dc473879f90",
      "type": "aruco",
      "marker_id": 61,
      "marker_size_m": 0.025,
@@ -1234,7 +1234,7 @@
      "confidence": 0.1527342148240039
    },
    {
-      "observation_id": "5ab78f3b-f134-4bc5-b45b-b94a179e5ab5",
+      "observation_id": "916a1fad-5366-4e38-80b3-227520a735ce",
      "type": "aruco",
      "marker_id": 83,
      "marker_size_m": 0.025,
@@ -1288,7 +1288,7 @@
      "confidence": 0.19743498130596515
    },
    {
-      "observation_id": "25d984b5-b189-4c3d-9c14-85f55a238e52",
+      "observation_id": "f483d8bf-f2d7-4c35-9314-7b76ae824ed5",
      "type": "aruco",
      "marker_id": 206,
      "marker_size_m": 0.025,
@@ -1342,7 +1342,7 @@
      "confidence": 0.2849187633475991
    },
    {
-      "observation_id": "13a8b820-916c-4eb9-8998-94aa7faf4b00",
+      "observation_id": "aaf7b09b-39f9-4ff1-a609-ba194f24d090",
      "type": "aruco",
      "marker_id": 207,
      "marker_size_m": 0.025,
@@ -1396,7 +1396,7 @@
      "confidence": 0.24627951083020566
    },
    {
-      "observation_id": "bfc73e67-e831-4474-b9c6-bc2adc58bab4",
+      "observation_id": "a5dcc05a-fdb4-4e01-8e35-d34776a11280",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
@@ -1450,7 +1450,7 @@
      "confidence": 0.22592760282333144
    },
    {
-      "observation_id": "6793ee57-f827-4bd7-b727-730e0f60a521",
+      "observation_id": "63b0c98e-7b15-45e3-aeff-12aefe49c001",
      "type": "aruco",
      "marker_id": 84,
      "marker_size_m": 0.025,
@@ -1504,7 +1504,7 @@
      "confidence": 0.19681943169996122
    },
    {
-      "observation_id": "2618ccd1-4220-4fc4-9eb0-e557a00a684f",
+      "observation_id": "2b5195f7-4cb4-4e05-af90-a76f044eb61d",
      "type": "aruco",
      "marker_id": 86,
      "marker_size_m": 0.025,
@@ -1558,7 +1558,7 @@
      "confidence": 0.1640007734958032
    },
    {
-      "observation_id": "594854cf-db4f-4f35-bb47-e07b2acfa154",
+      "observation_id": "859faaa6-88a5-4e39-9d31-696593aadf07",
      "type": "aruco",
      "marker_id": 60,
      "marker_size_m": 0.025,
@@ -1612,7 +1612,7 @@
      "confidence": 0.1646279680870627
    },
    {
-      "observation_id": "49f3b688-eed0-462b-90a3-2eddbb027e6d",
+      "observation_id": "05247d8f-e715-4bdd-9f4e-521844d7ca34",
      "type": "aruco",
      "marker_id": 93,
      "marker_size_m": 0.025,
--- a/data/evaluations/Scene6/render_a_camera_pose.json
+++ b/data/evaluations/Scene6/render_a_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:04:50Z",
+  "created_utc": "2026-06-02T06:12:45Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_a_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
--- a/data/evaluations/Scene6/render_b_aruco_detection.json
+++ b/data/evaluations/Scene6/render_b_aruco_detection.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:04:48Z",
+  "created_utc": "2026-06-02T06:12:44Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
@@ -46,7 +46,7 @@
  },
  "detections": [
    {
-      "observation_id": "f83b1a0a-82d5-4595-aa3f-b5a1dcdec75c",
+      "observation_id": "19200abe-5f1b-4368-8156-6776249193f3",
      "type": "aruco",
      "marker_id": 42,
      "marker_size_m": 0.025,
@@ -100,7 +100,7 @@
      "confidence": 0.7734558326344684
    },
    {
-      "observation_id": "332d5ad9-174e-4b02-95c1-0020c8d40d9a",
+      "observation_id": "d1c15e88-afff-4fb4-b7c6-19308c0ab054",
      "type": "aruco",
      "marker_id": 43,
      "marker_size_m": 0.025,
@@ -154,7 +154,7 @@
      "confidence": 0.39276641139320373
    },
    {
-      "observation_id": "fdba464f-0faf-46f7-8dee-db8ee91ac65d",
+      "observation_id": "5edab514-9850-4563-b19c-3c3e69537ed0",
      "type": "aruco",
      "marker_id": 219,
      "marker_size_m": 0.025,
@@ -208,7 +208,7 @@
      "confidence": 0.5371673377023298
    },
    {
-      "observation_id": "08af28b4-9e15-4e1c-b7a1-d811fcb48831",
+      "observation_id": "9f5136b5-22e9-4969-a0c0-9390e9b20f44",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
@@ -262,7 +262,7 @@
      "confidence": 0.4966751237638301
    },
    {
-      "observation_id": "7b3607c6-2ae5-4115-a5f5-a2cf17083a56",
+      "observation_id": "f9ef7e68-c64e-4759-b61c-3dd27de0eecc",
      "type": "aruco",
      "marker_id": 63,
      "marker_size_m": 0.025,
@@ -316,7 +316,7 @@
      "confidence": 0.1539593300495616
    },
    {
-      "observation_id": "7926612b-d2e3-49f8-b3b0-52918e123f52",
+      "observation_id": "26b81e03-9e4c-41a3-b401-42c7df993627",
      "type": "aruco",
      "marker_id": 41,
      "marker_size_m": 0.025,
@@ -370,7 +370,7 @@
      "confidence": 0.2771200012449925
    },
    {
-      "observation_id": "a001c93d-fb6b-42a3-b1f6-4ff8d1f65b26",
+      "observation_id": "b8366561-73b0-4f46-8099-5f29a71c4b04",
      "type": "aruco",
      "marker_id": 218,
      "marker_size_m": 0.025,
@@ -424,7 +424,7 @@
      "confidence": 0.42062184880944004
    },
    {
-      "observation_id": "3fd6a6fa-3d66-4f34-a55e-3821ddeb4f15",
+      "observation_id": "b052583f-6561-4230-bec6-27b425485ed1",
      "type": "aruco",
      "marker_id": 102,
      "marker_size_m": 0.025,
@@ -478,7 +478,7 @@
      "confidence": 0.39637168760361213
    },
    {
-      "observation_id": "d5f49f3d-b2bd-4b52-ad45-640009a440e3",
+      "observation_id": "1382765e-35b2-4b31-9ece-9c722ad30f13",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
@@ -532,7 +532,7 @@
      "confidence": 0.4633649853376546
    },
    {
-      "observation_id": "9109e5da-e852-435a-8596-df39d878fe1f",
+      "observation_id": "80e47386-38a6-4101-af17-4377aa614776",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
@@ -586,7 +586,7 @@
      "confidence": 0.3638956157928849
    },
    {
-      "observation_id": "978b76ab-6fa9-4f9c-9653-c8f56a1ce566",
+      "observation_id": "840d37d3-a26d-4fb2-8197-4796d4b3c572",
      "type": "aruco",
      "marker_id": 248,
      "marker_size_m": 0.025,
@@ -640,7 +640,7 @@
      "confidence": 0.3428886510457159
    },
    {
-      "observation_id": "fcb81e86-45f0-45e8-9afc-c9303cc8bb48",
+      "observation_id": "a72e6518-2c99-49a0-acd0-d8f88dfc6e5b",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
@@ -694,7 +694,7 @@
      "confidence": 0.35532892589788884
    },
    {
-      "observation_id": "af9d301f-2c34-4d74-ab01-e5dcb6d52eff",
+      "observation_id": "d313b3af-5d0f-4246-8abe-29753025008a",
      "type": "aruco",
      "marker_id": 92,
      "marker_size_m": 0.025,
@@ -748,7 +748,7 @@
      "confidence": 0.46896024883690896
    },
    {
-      "observation_id": "1a7a8aa3-9276-4cc2-987c-b4b5a5fc2214",
+      "observation_id": "26f9c4bc-e3ac-48e0-8ccd-9d3af165f008",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
@@ -802,7 +802,7 @@
      "confidence": 0.44372569385651617
    },
    {
-      "observation_id": "95a312dd-7879-4aad-9a31-b7783c838beb",
+      "observation_id": "10b29bf8-07fa-47df-b65e-8a8b0e5c540b",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
@@ -856,7 +856,7 @@
      "confidence": 0.45199802144368495
    },
    {
-      "observation_id": "c1cbdef7-71ae-4c6b-904d-7d2bc1abbe1c",
+      "observation_id": "94618cc2-6f52-4f18-ab09-d7d4b29341a3",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
@@ -910,7 +910,7 @@
      "confidence": 0.45199802144368495
    },
    {
-      "observation_id": "e2188a40-27d5-44f6-9f65-a0aaae5ebe43",
+      "observation_id": "29951659-3dad-4b63-abce-7908a5e1c6d0",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
@@ -964,7 +964,7 @@
      "confidence": 0.44348322079976393
    },
    {
-      "observation_id": "d8c5c8f9-ce18-4010-8835-2714a0991625",
+      "observation_id": "b5f77e5a-c22c-47f4-8d79-9917e42898ae",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
@@ -1018,7 +1018,7 @@
      "confidence": 0.41815762699787656
    },
    {
-      "observation_id": "5034325b-4767-429e-b81d-4bda03a196a3",
+      "observation_id": "a7db7cbe-8df4-4a6c-9bc4-2143d63274d1",
      "type": "aruco",
      "marker_id": 205,
      "marker_size_m": 0.025,
@@ -1072,7 +1072,7 @@
      "confidence": 0.3958181457519531
    },
    {
-      "observation_id": "c3eba7dc-b71b-4d19-b84b-dbd4a34800f3",
+      "observation_id": "1893099a-7d01-4fe3-a2f8-ee09e0e1abf3",
      "type": "aruco",
      "marker_id": 215,
      "marker_size_m": 0.025,
@@ -1126,7 +1126,7 @@
      "confidence": 0.39178239625208167
    },
    {
-      "observation_id": "48f43d82-0462-4133-a761-64cf68546e55",
+      "observation_id": "41e0d785-ef52-4379-8248-8cca58df8e35",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
@@ -1180,7 +1180,7 @@
      "confidence": 0.4015868133874269
    },
    {
-      "observation_id": "cab0c1e0-5807-416f-b59a-e5dd31ff2dc7",
+      "observation_id": "f5080558-7be2-4bbe-a86d-898948f77e29",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
@@ -1234,7 +1234,7 @@
      "confidence": 0.3776
    },
    {
-      "observation_id": "f55ed9d2-7c1f-482f-a406-776330ade695",
+      "observation_id": "62e99edc-5a92-4ea5-83e9-f485ec3176ac",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
@@ -1288,7 +1288,7 @@
      "confidence": 0.3320910299473707
    },
    {
-      "observation_id": "59584270-ab30-4b78-a4fb-de0aed17c312",
+      "observation_id": "991cc1d5-740e-4cd4-aa8b-3a475f967ebc",
      "type": "aruco",
      "marker_id": 214,
      "marker_size_m": 0.025,
@@ -1342,7 +1342,7 @@
      "confidence": 0.3465862068965517
    },
    {
-      "observation_id": "e73c01ca-186b-476b-9dde-5103d5d16ee2",
+      "observation_id": "7fd1ec2d-823f-4b18-bfcb-639fcf933dee",
      "type": "aruco",
      "marker_id": 206,
      "marker_size_m": 0.025,
@@ -1396,7 +1396,7 @@
      "confidence": 0.3579602826436361
    },
    {
-      "observation_id": "d2d7b37c-0fb0-48d1-b8d6-06aec4867c03",
+      "observation_id": "2ee4a050-f48d-45d5-9725-450a26c4ad61",
      "type": "aruco",
      "marker_id": 207,
      "marker_size_m": 0.025,
@@ -1450,7 +1450,7 @@
      "confidence": 0.343462485354258
    },
    {
-      "observation_id": "84d19fbf-3843-4315-bd9a-f5da3ec3249e",
+      "observation_id": "8924a3c8-5cf6-48bd-865f-7e450ad2a512",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
@@ -1504,7 +1504,7 @@
      "confidence": 0.19114254474639894
    },
    {
-      "observation_id": "8fe57168-8bb5-48ef-983e-92df5e24f35a",
+      "observation_id": "00e1f8f0-675a-4f52-a46f-9b198172926e",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
@@ -1558,7 +1558,7 @@
      "confidence": 0.15059825259624304
    },
    {
-      "observation_id": "bf1bd2cf-269d-41f9-9977-e7aaa79d7808",
+      "observation_id": "5cc50b0a-6899-4ee4-9bbf-1979ae9eed74",
      "type": "aruco",
      "marker_id": 94,
      "marker_size_m": 0.025,
@@ -1612,7 +1612,7 @@
      "confidence": 0.05940673074575571
    },
    {
-      "observation_id": "00994589-b183-4654-8c49-7ab6d8261b84",
+      "observation_id": "ae1c6b97-ab63-4a5e-9710-b59c7e3b6876",
      "type": "aruco",
      "marker_id": 76,
      "marker_size_m": 0.025,
@@ -1666,7 +1666,7 @@
      "confidence": 0.2459421895345052
    },
    {
-      "observation_id": "08e22018-5a22-4583-b862-71aad2047711",
+      "observation_id": "962817dc-ecae-467e-875f-7596d89a3e6e",
      "type": "aruco",
      "marker_id": 100,
      "marker_size_m": 0.025,
@@ -1720,7 +1720,7 @@
      "confidence": 0.24407473894265982
    },
    {
-      "observation_id": "7b0d0fd8-0bf3-4b62-8736-f68dda2ecbff",
+      "observation_id": "a2880b74-aa89-46c9-8668-e29a13fc7a64",
      "type": "aruco",
      "marker_id": 75,
      "marker_size_m": 0.025,
@@ -1774,7 +1774,7 @@
      "confidence": 0.23896265492072474
    },
    {
-      "observation_id": "7278f532-9f88-4656-9b52-dabd8693cc1f",
+      "observation_id": "02d9a685-fce9-48df-9cbf-8116297e9094",
      "type": "aruco",
      "marker_id": 68,
      "marker_size_m": 0.025,
@@ -1828,7 +1828,7 @@
      "confidence": 0.24909137483284013
    },
    {
-      "observation_id": "0d580585-290e-4237-affe-fceb4b7b1185",
+      "observation_id": "6b6edba3-a18f-49ad-b3cb-9a903aca0ae3",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
@@ -1882,7 +1882,7 @@
      "confidence": 0.23734254719660833
    },
    {
-      "observation_id": "e5603e16-e599-48a1-a540-0ce122caff9f",
+      "observation_id": "5900473c-5c42-44e8-8543-f3dc6d2e3b3a",
      "type": "aruco",
      "marker_id": 77,
      "marker_size_m": 0.025,
@@ -1936,7 +1936,7 @@
      "confidence": 0.23734254719660833
    },
    {
-      "observation_id": "31a77d82-9130-4824-a364-2b0cbaeb70bd",
+      "observation_id": "3d7d2fd3-5d08-4cb0-930a-45d39989b56c",
      "type": "aruco",
      "marker_id": 56,
      "marker_size_m": 0.025,
@@ -1990,7 +1990,7 @@
      "confidence": 0.236365170112023
    },
    {
-      "observation_id": "f910b53c-4d73-4ec7-8eac-ec3bcae785a7",
+      "observation_id": "d7d6efe9-26d5-4075-a5f0-54f8d5480f8d",
      "type": "aruco",
      "marker_id": 50,
      "marker_size_m": 0.025,
@@ -2044,7 +2044,7 @@
      "confidence": 0.2211554500544793
    },
    {
-      "observation_id": "e13ed294-614b-4a38-a4ca-dba39a25658e",
+      "observation_id": "2f1ba963-42cb-40b0-8885-8b0dac840f20",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
@@ -2098,7 +2098,7 @@
      "confidence": 0.21841319450965294
    },
    {
-      "observation_id": "159b9bf8-d522-4062-87bf-d738ab89dab4",
+      "observation_id": "c2583db9-a438-4687-880e-7fe8ea13375c",
      "type": "aruco",
      "marker_id": 104,
      "marker_size_m": 0.025,
@@ -2152,7 +2152,7 @@
      "confidence": 0.22417849731445313
    },
    {
-      "observation_id": "ed4b6b69-7b47-4e36-a6ee-1afc35e1e21f",
+      "observation_id": "a24cfca2-81c7-4a7f-9e0c-4e5619a156c8",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
@@ -2206,7 +2206,7 @@
      "confidence": 0.22367025973033955
    },
    {
-      "observation_id": "01646cb7-b9f6-492b-af01-9e29781ecb38",
+      "observation_id": "aafe3155-38e3-462d-9018-59e6df065358",
      "type": "aruco",
      "marker_id": 84,
      "marker_size_m": 0.025,
@@ -2260,7 +2260,7 @@
      "confidence": 0.21633306884765624
    },
    {
-      "observation_id": "44879286-f4b4-44b1-9a61-78ccf45786b0",
+      "observation_id": "e90195cf-ce26-4829-af96-66c4399e3bc7",
      "type": "aruco",
      "marker_id": 67,
      "marker_size_m": 0.025,
@@ -2314,7 +2314,7 @@
      "confidence": 0.19627771759033205
    },
    {
-      "observation_id": "7612c2e4-2540-455f-8250-2d6a77705a41",
+      "observation_id": "ddb6f8fb-34b6-489c-be11-d2bf3a9673e1",
      "type": "aruco",
      "marker_id": 60,
      "marker_size_m": 0.025,
@@ -2368,7 +2368,7 @@
      "confidence": 0.18913971961975098
    },
    {
-      "observation_id": "322159ce-6390-4c70-909a-be070f685899",
+      "observation_id": "83f6bd64-5fb4-4cdf-926a-0374b4fb1833",
      "type": "aruco",
      "marker_id": 86,
      "marker_size_m": 0.025,
@@ -2422,7 +2422,7 @@
      "confidence": 0.18966921411877496
    },
    {
-      "observation_id": "b5eb9fba-6a81-4ba6-bbe3-1e758e15e372",
+      "observation_id": "3897dc7d-cacc-44d7-ba8c-84c0eadc0057",
      "type": "aruco",
      "marker_id": 88,
      "marker_size_m": 0.025,
@@ -2476,7 +2476,7 @@
      "confidence": 0.20782158780899712
    },
    {
-      "observation_id": "c2589d80-b58b-4966-bf2f-112e5ab554f8",
+      "observation_id": "fc177ab4-d73c-412a-a842-bef5d25cd8e8",
      "type": "aruco",
      "marker_id": 70,
      "marker_size_m": 0.025,
@@ -2530,7 +2530,7 @@
      "confidence": 0.193995418548584
    },
    {
-      "observation_id": "474c13a0-1dd2-4114-9cfc-e48aa3d4a155",
+      "observation_id": "ccdb2b84-0c2a-456f-90f1-7952da6734fb",
      "type": "aruco",
      "marker_id": 98,
      "marker_size_m": 0.025,
@@ -2584,7 +2584,7 @@
      "confidence": 0.1899538473288218
    },
    {
-      "observation_id": "6880026f-8a8f-4f39-afab-d1f61682c10f",
+      "observation_id": "acdb8c0a-ce98-4a6c-ac64-01dba8ba7341",
      "type": "aruco",
      "marker_id": 83,
      "marker_size_m": 0.025,
@@ -2638,7 +2638,7 @@
      "confidence": 0.17676838843571283
    },
    {
-      "observation_id": "52eaa8b5-13a5-468b-8a32-71cab09b4977",
+      "observation_id": "ff47093f-bd49-40f7-9b17-394d6939cdbb",
      "type": "aruco",
      "marker_id": 61,
      "marker_size_m": 0.025,
@@ -2692,7 +2692,7 @@
      "confidence": 0.1668050360320266
    },
    {
-      "observation_id": "733ea2f6-0647-4328-a15d-6df55f9edefb",
+      "observation_id": "7bfa8d94-8d40-448f-8467-28de7513b26f",
      "type": "aruco",
      "marker_id": 90,
      "marker_size_m": 0.025,
@@ -2746,7 +2746,7 @@
      "confidence": 0.17612778902053833
    },
    {
-      "observation_id": "85bfd5f7-f16d-43aa-89ed-8a2938a691c6",
+      "observation_id": "2b2161f2-1b7d-465f-9383-e051c7f98889",
      "type": "aruco",
      "marker_id": 91,
      "marker_size_m": 0.025,
--- a/data/evaluations/Scene6/render_b_camera_pose.json
+++ b/data/evaluations/Scene6/render_b_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:04:50Z",
+  "created_utc": "2026-06-02T06:12:45Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_b_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
--- a/data/evaluations/Scene6/render_c_camera_pose.json
+++ b/data/evaluations/Scene6/render_c_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:04:51Z",
+  "created_utc": "2026-06-02T06:12:46Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_c_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
--- a/data/evaluations/Scene6/render_d_camera_pose.json
+++ b/data/evaluations/Scene6/render_d_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:04:51Z",
+  "created_utc": "2026-06-02T06:12:46Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_d_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
--- a/data/evaluations/Scene6/render_e_camera_pose.json
+++ b/data/evaluations/Scene6/render_e_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:04:51Z",
+  "created_utc": "2026-06-02T06:12:47Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_e_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
--- a/data/evaluations/Scene6/render_f_aruco_detection.json
+++ b/data/evaluations/Scene6/render_f_aruco_detection.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:04:49Z",
+  "created_utc": "2026-06-02T06:12:44Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
@@ -46,7 +46,7 @@
  },
  "detections": [
    {
-      "observation_id": "cc8833c3-483f-45be-b428-05137233d155",
+      "observation_id": "c45769f7-a849-4d3e-9667-ffe1d88f2ea5",
      "type": "aruco",
      "marker_id": 41,
      "marker_size_m": 0.025,
@@ -100,7 +100,7 @@
      "confidence": 0.9684350014790998
    },
    {
-      "observation_id": "906ead93-9f61-439e-bb72-726976aca6e4",
+      "observation_id": "1d6c1672-54cc-4968-a389-7e5ca59cb0cf",
      "type": "aruco",
      "marker_id": 43,
      "marker_size_m": 0.025,
@@ -154,7 +154,7 @@
      "confidence": 0.6710680790554111
    },
    {
-      "observation_id": "4c58dcb0-8d4c-4df3-ae45-b78bff5dbcb1",
+      "observation_id": "5588ad73-0509-4eed-9507-77fb21b3dab2",
      "type": "aruco",
      "marker_id": 42,
      "marker_size_m": 0.025,
@@ -208,7 +208,7 @@
      "confidence": 0.6452379410051939
    },
    {
-      "observation_id": "d1ef0cbe-9fcf-4f97-be6e-682af6a48d7c",
+      "observation_id": "d988ded2-5d9b-45ec-b8e8-63c45962b4d1",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
@@ -262,7 +262,7 @@
      "confidence": 0.5737897608508687
    },
    {
-      "observation_id": "72888d5a-95dc-4274-8bc7-4f5faca4090e",
+      "observation_id": "fa82b90f-4923-4e7b-863f-51a1f361e10a",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
@@ -316,7 +316,7 @@
      "confidence": 0.2988751797371847
    },
    {
-      "observation_id": "b3804376-4d49-48f9-9b20-003d4c72e58d",
+      "observation_id": "ef92dda6-e57c-401a-8ca5-d35c8ca87900",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
@@ -370,7 +370,7 @@
      "confidence": 0.5954364184044425
    },
    {
-      "observation_id": "d975752a-083e-40b1-b950-b78902f3fd7e",
+      "observation_id": "8a523bf4-7de7-400b-b523-da205ea6d2f4",
      "type": "aruco",
      "marker_id": 56,
      "marker_size_m": 0.025,
@@ -424,7 +424,7 @@
      "confidence": 0.5697620483284124
    },
    {
-      "observation_id": "61f8e83e-f07e-4716-918d-6db9901a3df1",
+      "observation_id": "f6f9b56e-75fe-44fb-ad3a-e146aea07855",
      "type": "aruco",
      "marker_id": 47,
      "marker_size_m": 0.025,
@@ -478,7 +478,7 @@
      "confidence": 0.5768583617164568
    },
    {
-      "observation_id": "ab259937-4899-4800-9af5-cef2065a0903",
+      "observation_id": "400a358a-a2e8-4024-8d00-7afaa6d79b49",
      "type": "aruco",
      "marker_id": 62,
      "marker_size_m": 0.025,
@@ -532,7 +532,7 @@
      "confidence": 0.5593704450665263
    },
    {
-      "observation_id": "211ee52e-3673-4f0c-8472-21561308733b",
+      "observation_id": "d595c955-d3ae-4ca9-95e2-05f3568bda31",
      "type": "aruco",
      "marker_id": 54,
      "marker_size_m": 0.025,
@@ -586,7 +586,7 @@
      "confidence": 0.5766374039623903
    },
    {
-      "observation_id": "23745501-fbc4-4218-ac61-9135be2ba643",
+      "observation_id": "e5dec173-4912-4b88-9cae-4c92ff8a1c40",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
@@ -640,7 +640,7 @@
      "confidence": 0.21364841201201337
    },
    {
-      "observation_id": "e3a11ff7-25ed-44eb-a440-d050a68aa609",
+      "observation_id": "71662fe2-fb12-41d1-a4c9-dc2127fd2800",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
@@ -694,7 +694,7 @@
      "confidence": 0.5755104606164277
    },
    {
-      "observation_id": "d095b301-aef4-4e3c-a2dc-8a98b9418450",
+      "observation_id": "d0899e09-a423-4fa3-9b64-420cd0db7e4a",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
@@ -748,7 +748,7 @@
      "confidence": 0.5705029634947052
    },
    {
-      "observation_id": "806aa8f7-87fd-4537-8d63-cfb329396b04",
+      "observation_id": "101a773b-720d-49ff-92dc-c6412687a31b",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
@@ -802,7 +802,7 @@
      "confidence": 0.5461315019106076
    },
    {
-      "observation_id": "96b5f5fa-5d18-4e29-9805-273e9e2de45b",
+      "observation_id": "4a27328a-a08c-4afa-8b3c-bebb667a8fbf",
      "type": "aruco",
      "marker_id": 96,
      "marker_size_m": 0.025,
@@ -856,7 +856,7 @@
      "confidence": 0.5763709732716893
    },
    {
-      "observation_id": "6571f37a-c323-43b3-8740-8c1dbba309e8",
+      "observation_id": "36f2532d-d82b-4ee6-a55a-288661d461a1",
      "type": "aruco",
      "marker_id": 84,
      "marker_size_m": 0.025,
@@ -910,7 +910,7 @@
      "confidence": 0.06519221426443914
    },
    {
-      "observation_id": "3b7ab41e-8357-4e9f-8e4d-7e9390a7c2ab",
+      "observation_id": "34ce2f9b-7407-43d1-890c-2d6fa89a7f3a",
      "type": "aruco",
      "marker_id": 66,
      "marker_size_m": 0.025,
@@ -964,7 +964,7 @@
      "confidence": 0.5349107016469481
    },
    {
-      "observation_id": "e9c14281-c628-4856-ac5a-b274702a9eec",
+      "observation_id": "c2c8c2e5-3780-4dd5-a849-88bfe15f78f2",
      "type": "aruco",
      "marker_id": 79,
      "marker_size_m": 0.025,
@@ -1018,7 +1018,7 @@
      "confidence": 0.5342723833872263
    },
    {
-      "observation_id": "eb46fa64-f3d8-4898-a885-211448cb2f04",
+      "observation_id": "004c21bf-b86c-4829-be5c-77f44680fa48",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
@@ -1072,7 +1072,7 @@
      "confidence": 0.5227826547122322
    },
    {
-      "observation_id": "860884a6-79e5-4d77-a79f-56788516bde2",
+      "observation_id": "6c95a32c-04d6-4c75-978d-20d0931d3664",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
@@ -1126,7 +1126,7 @@
      "confidence": 0.5111500432161571
    },
    {
-      "observation_id": "82b9c91d-67a3-422a-acc8-4150f3cb110b",
+      "observation_id": "e34ccefd-9f1d-47df-a78a-e8e2701b1668",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
@@ -1180,7 +1180,7 @@
      "confidence": 0.5046333482067283
    },
    {
-      "observation_id": "9a7c0213-1961-4628-9ff6-cd9d6a6b3c8c",
+      "observation_id": "56cb7108-5345-413a-be0a-eb91096b060e",
      "type": "aruco",
      "marker_id": 73,
      "marker_size_m": 0.025,
@@ -1234,7 +1234,7 @@
      "confidence": 0.13607001327160623
    },
    {
-      "observation_id": "84b36d59-29b9-4c51-9a09-0bb33686d536",
+      "observation_id": "79b1d669-00e2-4608-aeb8-0f5408a6acd7",
      "type": "aruco",
      "marker_id": 210,
      "marker_size_m": 0.025,
@@ -1288,7 +1288,7 @@
      "confidence": 0.46988879526830113
    },
    {
-      "observation_id": "033bcc58-9052-4bc9-9257-7698957dffe6",
+      "observation_id": "79296b2f-84e9-443a-9a8d-b27858dfdb97",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
@@ -1342,7 +1342,7 @@
      "confidence": 0.4655541127751829
    },
    {
-      "observation_id": "a09f27ed-a0e9-4120-806d-6de8acfc8895",
+      "observation_id": "563fb911-52ed-4725-b5c5-51eaeb560a87",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
@@ -1396,7 +1396,7 @@
      "confidence": 0.4655541127751829
    },
    {
-      "observation_id": "b0f99014-a0fb-425d-b1ef-ed2703b75aa1",
+      "observation_id": "7f6ae2b5-3679-479b-9655-aff84300bf28",
      "type": "aruco",
      "marker_id": 82,
      "marker_size_m": 0.025,
@@ -1450,7 +1450,7 @@
      "confidence": 0.49001748422717006
    },
    {
-      "observation_id": "43e2c11b-e176-4c5d-8a6f-3d33cb8bb45c",
+      "observation_id": "4cd95335-275d-45ce-8461-4cb1de7b3db1",
      "type": "aruco",
      "marker_id": 101,
      "marker_size_m": 0.025,
@@ -1504,7 +1504,7 @@
      "confidence": 0.46225891142368675
    },
    {
-      "observation_id": "e70cb664-4996-4cb6-8658-bcf3d64c1ad6",
+      "observation_id": "e4e7ba85-3ba5-47cf-98f1-67ffa9908422",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
@@ -1558,7 +1558,7 @@
      "confidence": 0.43211414091114625
    },
    {
-      "observation_id": "4fa38fc3-b109-49dc-a432-4bf16f946a2c",
+      "observation_id": "298e22d3-1e6f-4e03-86b9-efc466a7c124",
      "type": "aruco",
      "marker_id": 52,
      "marker_size_m": 0.025,
@@ -1612,7 +1612,7 @@
      "confidence": 0.45411789642863376
    },
    {
-      "observation_id": "61b95c00-87b9-438a-9e92-c5029072848f",
+      "observation_id": "a9781f29-6113-4a54-9f5b-9d7623d24231",
      "type": "aruco",
      "marker_id": 113,
      "marker_size_m": 0.025,
@@ -1666,7 +1666,7 @@
      "confidence": 0.11347147338995772
    },
    {
-      "observation_id": "a82fa8cc-5b77-4f8e-a4f6-9cd52d8fc3f5",
+      "observation_id": "c3311b08-b1a2-43c7-931a-82e4f408a1a3",
      "type": "aruco",
      "marker_id": 83,
      "marker_size_m": 0.025,
@@ -1720,7 +1720,7 @@
      "confidence": 0.4377857805109236
    },
    {
-      "observation_id": "284535a0-de51-45a3-b12e-43a1a4d83980",
+      "observation_id": "0ab9b993-2727-4285-9b51-21dedfe12e63",
      "type": "aruco",
      "marker_id": 75,
      "marker_size_m": 0.025,
@@ -1774,7 +1774,7 @@
      "confidence": 0.22473325223116958
    },
    {
-      "observation_id": "14fd473a-d68c-4a8c-bf72-c76aaca16b6b",
+      "observation_id": "631ad3a6-35e2-406e-aefb-9d0036299cfe",
      "type": "aruco",
      "marker_id": 243,
      "marker_size_m": 0.025,
@@ -1828,7 +1828,7 @@
      "confidence": 0.13402725127354712
    },
    {
-      "observation_id": "dffaf77e-fc8c-46f6-8b73-3424b2fc9b14",
+      "observation_id": "0cda7f2c-4bd3-4595-b8a2-f329b52410a1",
      "type": "aruco",
      "marker_id": 248,
      "marker_size_m": 0.025,
@@ -1882,7 +1882,7 @@
      "confidence": 0.07116905162666477
    },
    {
-      "observation_id": "a042ba99-9f32-4bc3-b9de-eb07b77ab713",
+      "observation_id": "ed724555-8599-4cd4-a4a5-796f6b3391df",
      "type": "aruco",
      "marker_id": 245,
      "marker_size_m": 0.025,
--- a/data/evaluations/Scene6/render_f_camera_pose.json
+++ b/data/evaluations/Scene6/render_f_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:04:52Z",
+  "created_utc": "2026-06-02T06:12:47Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_f_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
--- a/data/evaluations/Scene6/render_g_aruco_detection.json
+++ b/data/evaluations/Scene6/render_g_aruco_detection.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:04:49Z",
+  "created_utc": "2026-06-02T06:12:45Z",
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
@@ -46,7 +46,7 @@
  },
  "detections": [
    {
-      "observation_id": "011fd8e4-870d-4d54-984e-fa9c04156be9",
+      "observation_id": "ebbee167-062e-4add-810f-6a6e4a224526",
      "type": "aruco",
      "marker_id": 229,
      "marker_size_m": 0.025,
@@ -100,7 +100,7 @@
      "confidence": 0.6173789204094284
    },
    {
-      "observation_id": "4736be80-336b-48a4-b7d8-364f35092ab9",
+      "observation_id": "5f3f2589-e412-476e-aacd-f8327dd23ff0",
      "type": "aruco",
      "marker_id": 198,
      "marker_size_m": 0.025,
@@ -154,7 +154,7 @@
      "confidence": 0.6160882115990324
    },
    {
-      "observation_id": "49805e3d-8b2d-4e84-b55f-1c61bbac7a19",
+      "observation_id": "236c7173-cf28-4cc2-8a31-3d5f31b99167",
      "type": "aruco",
      "marker_id": 42,
      "marker_size_m": 0.025,
@@ -208,7 +208,7 @@
      "confidence": 0.2722366816212343
    },
    {
-      "observation_id": "bf81cd85-b628-40ba-aac5-c242a2761a50",
+      "observation_id": "22577033-f360-46e4-8907-f714bb5bae9b",
      "type": "aruco",
      "marker_id": 84,
      "marker_size_m": 0.025,
@@ -262,7 +262,7 @@
      "confidence": 0.3490767193505014
    },
    {
-      "observation_id": "6a589d6b-4164-42a2-8fe0-751c025a1129",
+      "observation_id": "5c491eaf-7128-449b-b7eb-30e96edc1a2a",
      "type": "aruco",
      "marker_id": 64,
      "marker_size_m": 0.025,
@@ -316,7 +316,7 @@
      "confidence": 0.5331747682067169
    },
    {
-      "observation_id": "40d4a7d8-7eca-4d38-9b75-edb7ebc4d58c",
+      "observation_id": "a99fe0e9-78b3-408f-91f3-253b179cbfe4",
      "type": "aruco",
      "marker_id": 72,
      "marker_size_m": 0.025,
@@ -370,7 +370,7 @@
      "confidence": 0.43254677700170213
    },
    {
-      "observation_id": "7050fb85-b50d-4715-81ac-81b4f513664f",
+      "observation_id": "436c3bf4-12c7-40da-8720-3b18e3aa68a6",
      "type": "aruco",
      "marker_id": 53,
      "marker_size_m": 0.025,
@@ -424,7 +424,7 @@
      "confidence": 0.27711751756945874
    },
    {
-      "observation_id": "9e532dfd-3fe0-47a8-a019-269bcfe452fa",
+      "observation_id": "e1fc6927-f9f7-4fd9-87d2-cd26c73d3289",
      "type": "aruco",
      "marker_id": 58,
      "marker_size_m": 0.025,
@@ -478,7 +478,7 @@
      "confidence": 0.48073279309443956
    },
    {
-      "observation_id": "e8dec3d8-ce02-4213-a946-26a12c47d75a",
+      "observation_id": "83284dea-ddf7-4c85-a1fc-5c05dfd76e0a",
      "type": "aruco",
      "marker_id": 69,
      "marker_size_m": 0.025,
@@ -532,7 +532,7 @@
      "confidence": 0.45546210617301425
    },
    {
-      "observation_id": "06745fad-3381-448b-9b7b-f3e747888dc0",
+      "observation_id": "36013164-432e-4208-9481-3ec1abd4dbe1",
      "type": "aruco",
      "marker_id": 103,
      "marker_size_m": 0.025,
@@ -586,7 +586,7 @@
      "confidence": 0.47991555158957017
    },
    {
-      "observation_id": "05c6c1ee-8a14-4588-9f62-f232a58122fd",
+      "observation_id": "106c5050-c0e3-44b9-939a-521105cd8ba1",
      "type": "aruco",
      "marker_id": 51,
      "marker_size_m": 0.025,
@@ -640,7 +640,7 @@
      "confidence": 0.4668259742313624
    },
    {
-      "observation_id": "2384f27d-cbe6-4ea0-8ca5-66fde74b5aef",
+      "observation_id": "b722c7e4-39cc-424c-8929-46ce45bf7e02",
      "type": "aruco",
      "marker_id": 56,
      "marker_size_m": 0.025,
@@ -694,7 +694,7 @@
      "confidence": 0.39662908657084783
    },
    {
-      "observation_id": "9c8d1be6-97e5-4ad3-8db9-d10983fd4a6b",
+      "observation_id": "c1170b17-5275-4cc8-b154-1787b62dcac5",
      "type": "aruco",
      "marker_id": 46,
      "marker_size_m": 0.025,
@@ -748,7 +748,7 @@
      "confidence": 0.1698001278724927
    },
    {
-      "observation_id": "dbdf18b7-6d3a-4ae1-ab74-ab915bc99e18",
+      "observation_id": "8f1a7655-1512-457e-b2e6-f6ce2d2cb0e9",
      "type": "aruco",
      "marker_id": 68,
      "marker_size_m": 0.025,
@@ -802,7 +802,7 @@
      "confidence": 0.07718187630567852
    },
    {
-      "observation_id": "0a558698-c413-4a08-8e2a-0e8c5b8a4fa9",
+      "observation_id": "5c53b180-4ef4-432a-add9-1c5e6edc0d4c",
      "type": "aruco",
      "marker_id": 208,
      "marker_size_m": 0.025,
@@ -856,7 +856,7 @@
      "confidence": 0.4316478958478293
    },
    {
-      "observation_id": "7da48bd1-1204-44c3-a075-ef60d17f88b9",
+      "observation_id": "1df93a9b-bce4-42e7-a14f-07ff75dcba30",
      "type": "aruco",
      "marker_id": 95,
      "marker_size_m": 0.025,
@@ -910,7 +910,7 @@
      "confidence": 0.4181682027393045
    },
    {
-      "observation_id": "aeab0d0f-0e3c-472a-90ef-52d06d1801a8",
+      "observation_id": "a3b1844b-b7e3-4b2f-8b70-7e25af8a0bf5",
      "type": "aruco",
      "marker_id": 55,
      "marker_size_m": 0.025,
@@ -964,7 +964,7 @@
      "confidence": 0.39668368657567366
    },
    {
-      "observation_id": "86852613-c7f9-4e23-8b31-976e4e717b27",
+      "observation_id": "84bdf7a7-05bf-486d-9bfb-5f8a26c9f154",
      "type": "aruco",
      "marker_id": 66,
      "marker_size_m": 0.025,
@@ -1018,7 +1018,7 @@
      "confidence": 0.3829765144945479
    },
    {
-      "observation_id": "b7122e4d-330d-45a6-a048-aae5115410d7",
+      "observation_id": "0f51dc2e-352e-4c15-80b2-58c7d4861767",
      "type": "aruco",
      "marker_id": 217,
      "marker_size_m": 0.025,
@@ -1072,7 +1072,7 @@
      "confidence": 0.3382587531306593
    },
    {
-      "observation_id": "5ec3a4c6-4f3c-4e4d-801d-cec245b8b1c5",
+      "observation_id": "ed86b4ed-6d28-49a9-abdf-c488ddbdc937",
      "type": "aruco",
      "marker_id": 97,
      "marker_size_m": 0.025,
@@ -1126,7 +1126,7 @@
      "confidence": 0.3623898971459892
    },
    {
-      "observation_id": "e6954753-1700-421e-b579-3db8b131ba7f",
+      "observation_id": "0d3b9fb6-2c67-40ec-b7a9-b779339d0078",
      "type": "aruco",
      "marker_id": 114,
      "marker_size_m": 0.025,
@@ -1180,7 +1180,7 @@
      "confidence": 0.10219899885152585
    },
    {
-      "observation_id": "ea81a575-0d6d-4dc3-b82a-d927c8ec996b",
+      "observation_id": "9219bb09-16a9-4714-b92f-40e7f84e7103",
      "type": "aruco",
      "marker_id": 54,
      "marker_size_m": 0.025,
@@ -1234,7 +1234,7 @@
      "confidence": 0.3590718541167963
    },
    {
-      "observation_id": "7d328cad-a1c3-4ad9-bc15-4342eaa1d116",
+      "observation_id": "6c5f6610-1bbe-446f-bc23-7c0520b201f7",
      "type": "aruco",
      "marker_id": 205,
      "marker_size_m": 0.025,
@@ -1288,7 +1288,7 @@
      "confidence": 0.29591817114314195
    },
    {
-      "observation_id": "c6e74f16-14a3-4c0f-b3ef-bf33e9775164",
+      "observation_id": "6173140e-8bfe-478b-9344-c66a16e07cf4",
      "type": "aruco",
      "marker_id": 92,
      "marker_size_m": 0.025,
@@ -1342,7 +1342,7 @@
      "confidence": 0.3158166687011719
    },
    {
-      "observation_id": "c63185d5-b86f-44a9-90dc-0b4b7fd581b5",
+      "observation_id": "2d6d68dc-465e-4ea8-818d-2f74430d60d5",
      "type": "aruco",
      "marker_id": 105,
      "marker_size_m": 0.025,
@@ -1396,7 +1396,7 @@
      "confidence": 0.31800273344664126
    },
    {
-      "observation_id": "627ba061-49bc-4789-80ed-f4e5aa725801",
+      "observation_id": "4c372196-d465-4b93-bb9b-473c525ffc29",
      "type": "aruco",
      "marker_id": 85,
      "marker_size_m": 0.025,
@@ -1450,7 +1450,7 @@
      "confidence": 0.2969848480224609
    },
    {
-      "observation_id": "be55c957-2d7e-4fbd-a948-76882b24c7be",
+      "observation_id": "be594088-99e2-4b8a-b97f-1e3531f03b68",
      "type": "aruco",
      "marker_id": 102,
      "marker_size_m": 0.025,
@@ -1504,7 +1504,7 @@
      "confidence": 0.3170967427530611
    },
    {
-      "observation_id": "414dff3a-85cd-4f2a-b6a2-118f7b081594",
+      "observation_id": "2ec937f5-a5fc-4d9d-b5c0-680232e75138",
      "type": "aruco",
      "marker_id": 59,
      "marker_size_m": 0.025,
@@ -1558,7 +1558,7 @@
      "confidence": 0.3170967427530611
    },
    {
-      "observation_id": "2b302742-1b96-4eb2-bf39-67c236a9bf15",
+      "observation_id": "c1c35e8a-0023-4aa5-b9b8-a7849adc80d5",
      "type": "aruco",
      "marker_id": 48,
      "marker_size_m": 0.025,
@@ -1612,7 +1612,7 @@
      "confidence": 0.17828567290874034
    },
    {
-      "observation_id": "cb12b090-37d1-49b6-9529-3de73313ce55",
+      "observation_id": "7392c064-6880-48c8-9d52-ed0266b34020",
      "type": "aruco",
      "marker_id": 57,
      "marker_size_m": 0.025,
@@ -1666,7 +1666,7 @@
      "confidence": 0.3167426670523156
    },
    {
-      "observation_id": "ba4bc041-a30f-4afd-9e84-e4fb7f701d38",
+      "observation_id": "b6a5f371-1dbd-4f1b-a05d-78bd105afbda",
      "type": "aruco",
      "marker_id": 120,
      "marker_size_m": 0.025,
@@ -1720,7 +1720,7 @@
      "confidence": 0.07824437489153448
    },
    {
-      "observation_id": "3cc602d2-faf3-4c24-a0b5-4d94fe52b6e1",
+      "observation_id": "ccd28cf2-9ef7-4d7d-91f1-98d0d8728dfb",
      "type": "aruco",
      "marker_id": 63,
      "marker_size_m": 0.025,
@@ -1774,7 +1774,7 @@
      "confidence": 0.15449597168691093
    },
    {
-      "observation_id": "45e0d5b4-a749-4a5f-a4c5-ecb9a043e13d",
+      "observation_id": "8eb5351f-46e5-4e49-9fa3-8fd660fff7cb",
      "type": "aruco",
      "marker_id": 71,
      "marker_size_m": 0.025,
--- a/data/evaluations/Scene6/render_g_camera_pose.json
+++ b/data/evaluations/Scene6/render_g_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:04:52Z",
+  "created_utc": "2026-06-02T06:12:47Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_g_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
--- a/data/evaluations/Scene6/robot_state.json
+++ b/data/evaluations/Scene6/robot_state.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:05:09Z",
+  "created_utc": "2026-06-02T06:13:02Z",
  "method": "hybrid",
  "movements": {
    "x": {
--- a/data/evaluations/Scene8/aruco_marker_poses.json
+++ b/data/evaluations/Scene8/aruco_marker_poses.json
--- a/data/evaluations/Scene8/aruco_positions_initial.json
+++ b/data/evaluations/Scene8/aruco_positions_initial.json
--- a/data/evaluations/Scene8/aruco_positions_optimized.json
+++ b/data/evaluations/Scene8/aruco_positions_optimized.json
--- a/data/evaluations/Scene8/render_a_aruco_detection.json
+++ b/data/evaluations/Scene8/render_a_aruco_detection.json
--- a/data/evaluations/Scene8/render_a_camera_pose.json
+++ b/data/evaluations/Scene8/render_a_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:06:53Z",
+  "created_utc": "2026-06-02T09:26:17Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_a_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -9,14 +9,14 @@
    "camera_id": "a",
    "camera_matrix": [
      [
-        1777.77783203125,
+        1992.8416748046875,
        0.0,
-        640.0
+        719.249267578125
      ],
      [
        0.0,
-        1777.77783203125,
-        360.0
+        1997.40380859375,
+        537.7935791015625
      ],
      [
        0.0,
@@ -25,8 +25,8 @@
      ]
    ],
    "distortion_coefficients": [
-      0.0,
-      0.0,
+      0.019999999552965164,
+      -0.009999999776482582,
      0.0,
      0.0,
      0.0
@@ -36,26 +36,27 @@
    "method": "single_camera_marker_center_lm",
    "description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
    "marker_size_m": 0.025,
-    "num_used_markers": 18,
+    "num_used_markers": 19,
    "used_marker_ids": [
-      47,
+      97,
+      95,
+      103,
+      54,
+      55,
      210,
+      47,
      85,
      79,
+      105,
      96,
      62,
-      105,
-      75,
      102,
      92,
-      217,
      61,
-      83,
+      217,
+      205,
      206,
-      207,
-      84,
-      86,
-      93
+      86
    ],
    "history": {
      "iters": [
@@ -65,10 +66,10 @@
        3
      ],
      "rms": [
-        0.013441296790671579,
-        0.0009558010419370985,
-        8.508680576429123e-05,
-        8.500249149030952e-05
+        0.014050660389386072,
+        0.0019551714052788573,
+        0.0013565607940098775,
+        0.0013565007069067025
      ],
      "lambda": [
        0.001,
@@ -77,373 +78,386 @@
        0.000125
      ]
    },
-    "residual_rms_px": 0.2137082535265442,
-    "residual_median_px": 0.17923585982646273,
-    "residual_max_px": 0.3627677590402337,
-    "sigma2_normalized": 8.67050826886587e-09
+    "residual_rms_px": 3.8375126424446826,
+    "residual_median_px": 3.4420482391744414,
+    "residual_max_px": 7.291809537742419,
+    "sigma2_normalized": 2.1851118239213286e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
-          0.808061420917511,
-          -0.5890982151031494,
-          0.00016743359446991235
+          0.808310329914093,
+          -0.5887559056282043,
+          -0.0009415852255187929
        ],
        [
-          -0.3431582450866699,
-          -0.47093844413757324,
-          -0.812686562538147
+          -0.34446093440055847,
+          -0.4716165363788605,
+          -0.8117416501045227
        ],
        [
-          0.47883105278015137,
-          0.6566431522369385,
-          -0.5827010869979858
+          0.4774736166000366,
+          0.6564635038375854,
+          -0.5840159058570862
        ]
      ],
      "translation_m": [
-        -0.2288912832736969,
-        0.17077402770519257,
-        1.1346460580825806
+        -0.2279779016971588,
+        0.172822505235672,
+        1.135242223739624
      ],
      "rvec_rad": [
-        2.1062721704584626,
-        -0.6861604143367729,
-        0.3525529851457585
+        2.107578289598531,
+        -0.6867551721595043,
+        0.35068038513244587
      ]
    },
    "camera_in_world": {
      "position_m": [
-        -0.29974305629730225,
-        -0.799472987651825,
-        0.7999836206436157
+        -0.2982407212257385,
+        -0.797962486743927,
+        0.8030720949172974
      ],
      "position_mm": [
-        -299.7430419921875,
-        -799.4729614257812,
-        799.983642578125
+        -298.24072265625,
+        -797.9624633789062,
+        803.0720825195312
      ],
      "orientation_deg": {
-        "roll": 131.5856475830078,
-        "pitch": -28.60908317565918,
-        "yaw": -23.009401321411133
+        "roll": 131.6575469970703,
+        "pitch": -28.52052879333496,
+        "yaw": -23.081247329711914
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
-          4.619516113690007e-08,
-          -1.397013616170484e-08,
-          6.77165387146007e-10,
-          2.6255328604640674e-09,
-          6.9221642875853046e-09,
-          1.1551146891620539e-08
+          1.4819141868035026e-05,
+          -3.4064510055306064e-06,
+          -2.3467495497603728e-07,
+          8.812094944895524e-07,
+          9.249437903001185e-07,
+          4.57595419491434e-06
        ],
        [
-          -1.397013616170492e-08,
-          2.1346982374784157e-08,
-          -1.0945260787939212e-08,
-          -5.056690816415971e-09,
-          -5.392222017373122e-09,
-          -1.0216059919932632e-09
+          -3.406451005530592e-06,
+          5.255680816104284e-06,
+          -2.1601747739510241e-07,
+          -5.806279006751281e-07,
+          -1.5093777402719595e-06,
+          -9.475792042003259e-07
        ],
        [
-          6.771653871460158e-10,
-          -1.0945260787939108e-08,
-          5.758944809931949e-08,
-          9.452206570751754e-09,
-          -5.2965880605660184e-09,
-          -1.2892253725614578e-08
+          -2.3467495497611002e-07,
+          -2.1601747739507348e-07,
+          1.531992654033375e-05,
+          9.502362724765348e-07,
+          -2.409151774135498e-06,
+          -5.059620255334367e-06
        ],
        [
-          2.625532860464083e-09,
-          -5.056690816415959e-09,
-          9.452206570751771e-09,
-          3.05558688629712e-09,
-          3.175839917780105e-10,
-          -1.0899016346683564e-10
+          8.812094944895473e-07,
+          -5.806279006751256e-07,
+          9.50236272476535e-07,
+          4.031737957813195e-07,
+          9.979184700506782e-08,
+          6.194766057970748e-07
        ],
        [
-          6.922164287585328e-09,
-          -5.392222017373144e-09,
-          -5.296588060565982e-09,
-          3.175839917780176e-10,
-          3.66582146497886e-09,
-          3.97012482221086e-09
+          9.249437903001251e-07,
+          -1.5093777402719645e-06,
+          -2.4091517741354934e-06,
+          9.979184700506945e-08,
+          1.0869004217982035e-06,
+          1.695732528180125e-06
        ],
        [
-          1.1551146891620583e-08,
-          -1.0216059919933101e-09,
-          -1.2892253725614462e-08,
-          -1.089901634668158e-10,
-          3.970124822210858e-09,
-          2.1045876808511416e-08
+          4.5759541949143614e-06,
+          -9.475792042003393e-07,
+          -5.0596202553343715e-06,
+          6.194766057970809e-07,
+          1.695732528180127e-06,
+          7.858329169401267e-06
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
-          0.012314616044360916,
-          0.008371260914195077,
-          0.013749727485085577
+          0.22056376181528614,
+          0.131352131146556,
+          0.22425956418472115
        ],
        "tvec_std_m": [
-          5.5277363235750675e-05,
-          6.054602765647685e-05,
-          0.0001450719711333358
+          0.0006349596804375216,
+          0.0010425451653517,
+          0.0028032711551687728
        ]
      },
      "camera_center_std_m": [
-        0.00023994135596817505,
-        0.00024214683459045368,
-        0.0002648537946420537
+        0.003418118869283793,
+        0.003569359670352258,
+        0.004446754717414488
      ],
      "camera_center_std_mm": [
-        0.23994135596817504,
-        0.2421468345904537,
-        0.2648537946420537
+        3.4181188692837927,
+        3.569359670352258,
+        4.446754717414488
      ],
      "orientation_std_deg": {
-        "roll": 0.01717226512443145,
-        "pitch": 0.011125285518906196,
-        "yaw": 0.008426889172714924
+        "roll": 0.2759010196581653,
+        "pitch": 0.17020948503814737,
+        "yaw": 0.14343468149492686
      }
    }
  },
  "observations": {
    "markers": [
      {
-        "marker_id": 47,
+        "marker_id": 97,
        "observed_center_px": [
-          984.25,
-          690.75
+          1153.5,
+          1024.0
        ],
        "projected_center_px": [
-          983.9130859375,
-          690.8455810546875
+          1152.0242919921875,
+          1028.103271484375
        ],
-        "reprojection_error_px": 0.3502096850822786,
-        "confidence": 0.12146268776527554
+        "reprojection_error_px": 4.360567738128483,
+        "confidence": 0.5552771897514882
+      },
+      {
+        "marker_id": 95,
+        "observed_center_px": [
+          881.0,
+          1031.0
+        ],
+        "projected_center_px": [
+          876.95849609375,
+          1028.6004638671875
+        ],
+        "reprojection_error_px": 4.700162494734281,
+        "confidence": 0.4935894813040658
+      },
+      {
+        "marker_id": 103,
+        "observed_center_px": [
+          660.75,
+          999.5
+        ],
+        "projected_center_px": [
+          660.0728759765625,
+          995.9258422851562
+        ],
+        "reprojection_error_px": 3.637732853535741,
+        "confidence": 0.84707047599869
+      },
+      {
+        "marker_id": 54,
+        "observed_center_px": [
+          1154.75,
+          961.0
+        ],
+        "projected_center_px": [
+          1161.872314453125,
+          962.5630493164062
+        ],
+        "reprojection_error_px": 7.291809537742419,
+        "confidence": 0.7282891890663058
+      },
+      {
+        "marker_id": 55,
+        "observed_center_px": [
+          997.25,
+          932.0
+        ],
+        "projected_center_px": [
+          998.5267944335938,
+          934.5614624023438
+        ],
+        "reprojection_error_px": 2.8620436167669774,
+        "confidence": 0.8181372023761201
      },
      {
        "marker_id": 210,
        "observed_center_px": [
-          324.0,
-          632.0
+          369.0,
+          845.25
        ],
        "projected_center_px": [
-          324.11334228515625,
-          632.0877685546875
+          366.5543212890625,
+          847.2669067382812
        ],
-        "reprojection_error_px": 0.14335198916085318,
-        "confidence": 0.46829700346999537
+        "reprojection_error_px": 3.1700563320006196,
+        "confidence": 0.5810048492836246
+      },
+      {
+        "marker_id": 47,
+        "observed_center_px": [
+          1108.0,
+          915.0
+        ],
+        "projected_center_px": [
+          1106.8829345703125,
+          913.100341796875
+        ],
+        "reprojection_error_px": 2.203755082331751,
+        "confidence": 0.673003184644651
      },
      {
        "marker_id": 85,
        "observed_center_px": [
-          1183.75,
-          610.25
+          1335.25,
+          821.75
        ],
        "projected_center_px": [
-          1183.8746337890625,
-          610.302978515625
+          1331.8497314453125,
+          822.28466796875
        ],
-        "reprojection_error_px": 0.13542638034705098,
-        "confidence": 0.4560525484643318
+        "reprojection_error_px": 3.4420482391744414,
+        "confidence": 0.5671985638906173
      },
      {
        "marker_id": 79,
        "observed_center_px": [
-          814.0,
-          599.0
+          915.5,
+          810.25
        ],
        "projected_center_px": [
-          814.25634765625,
-          598.981689453125
+          916.2682495117188,
+          809.2759399414062
        ],
-        "reprojection_error_px": 0.25700077235629026,
-        "confidence": 0.5734281513866332
-      },
-      {
-        "marker_id": 96,
-        "observed_center_px": [
-          905.25,
-          587.25
-        ],
-        "projected_center_px": [
-          905.1751708984375,
-          587.0191650390625
-        ],
-        "reprojection_error_px": 0.24266061409233286,
-        "confidence": 0.525542829627259
-      },
-      {
-        "marker_id": 62,
-        "observed_center_px": [
-          931.0,
-          557.5
-        ],
-        "projected_center_px": [
-          931.0681762695312,
-          557.4588012695312
-        ],
-        "reprojection_error_px": 0.07965763691846725,
-        "confidence": 0.5038606541951498
+        "reprojection_error_px": 1.24056451263276,
+        "confidence": 0.6379888898897331
      },
      {
        "marker_id": 105,
        "observed_center_px": [
-          1150.25,
-          560.25
+          1293.25,
+          769.0
        ],
        "projected_center_px": [
-          1150.072021484375,
-          560.2947387695312
+          1293.6839599609375,
+          765.72705078125
        ],
-        "reprojection_error_px": 0.1835154203963489,
-        "confidence": 0.43622925667631085
+        "reprojection_error_px": 3.3015932269456076,
+        "confidence": 0.4930858463652647
      },
      {
-        "marker_id": 75,
+        "marker_id": 96,
        "observed_center_px": [
-          128.5,
-          514.75
+          1017.75,
+          792.75
        ],
        "projected_center_px": [
-          128.4539031982422,
-          514.6677856445312
+          1018.2994384765625,
+          795.7850341796875
        ],
-        "reprojection_error_px": 0.09425558539121726,
-        "confidence": 0.29844141482805986
+        "reprojection_error_px": 3.0843662414503723,
+        "confidence": 0.6155508349839959
+      },
+      {
+        "marker_id": 62,
+        "observed_center_px": [
+          1041.0,
+          763.0
+        ],
+        "projected_center_px": [
+          1047.349365234375,
+          762.4228515625
+        ],
+        "reprojection_error_px": 6.375542267007457,
+        "confidence": 0.5102273577584145
      },
      {
        "marker_id": 102,
        "observed_center_px": [
-          1217.75,
-          461.5
+          1372.5,
+          654.0
        ],
        "projected_center_px": [
-          1217.802001953125,
-          461.4224853515625
+          1369.95751953125,
+          654.0205688476562
        ],
-        "reprojection_error_px": 0.0933419726125601,
-        "confidence": 0.2521714913889437
+        "reprojection_error_px": 2.542563669108234,
+        "confidence": 0.3523728932703565
      },
      {
        "marker_id": 92,
        "observed_center_px": [
-          1173.25,
-          437.75
+          1323.25,
+          628.5
        ],
        "projected_center_px": [
-          1173.1270751953125,
-          437.9108581542969
+          1319.57177734375,
+          627.453369140625
        ],
-        "reprojection_error_px": 0.20244963178839637,
-        "confidence": 0.31777455864589965
-      },
-      {
-        "marker_id": 217,
-        "observed_center_px": [
-          1087.75,
-          347.0
-        ],
-        "projected_center_px": [
-          1087.92431640625,
-          347.0018310546875
-        ],
-        "reprojection_error_px": 0.17432602286860002,
-        "confidence": 0.3029173397022545
+        "reprojection_error_px": 3.824233003459237,
+        "confidence": 0.3667945046841247
      },
      {
        "marker_id": 61,
        "observed_center_px": [
-          58.5,
-          415.5
+          68.75,
+          603.5
        ],
        "projected_center_px": [
-          58.642295837402344,
-          415.5400390625
+          68.0721435546875,
+          602.9769287109375
        ],
-        "reprojection_error_px": 0.1478216217875895,
-        "confidence": 0.1527342148240039
+        "reprojection_error_px": 0.8562084640396892,
+        "confidence": 0.2479407110577365
      },
      {
-        "marker_id": 83,
+        "marker_id": 217,
        "observed_center_px": [
-          139.0,
-          383.0
+          1219.5,
+          526.5
        ],
        "projected_center_px": [
-          138.90614318847656,
-          383.0179748535156
+          1223.5826416015625,
+          524.9906616210938
        ],
-        "reprojection_error_px": 0.095562526276016,
-        "confidence": 0.19743498130596515
+        "reprojection_error_px": 4.352707753668763,
+        "confidence": 0.37106712222869814
+      },
+      {
+        "marker_id": 205,
+        "observed_center_px": [
+          1323.25,
+          477.0
+        ],
+        "projected_center_px": [
+          1319.5576171875,
+          477.3504638671875
+        ],
+        "reprojection_error_px": 3.7089777238815316,
+        "confidence": 0.302172408209113
      },
      {
        "marker_id": 206,
        "observed_center_px": [
-          1013.0,
-          301.0
+          1140.25,
+          473.25
        ],
        "projected_center_px": [
-          1013.3571166992188,
-          300.93621826171875
+          1139.712890625,
+          473.0404357910156
        ],
-        "reprojection_error_px": 0.3627677590402337,
-        "confidence": 0.2849187633475991
-      },
-      {
-        "marker_id": 207,
-        "observed_center_px": [
-          1098.0,
-          262.0
-        ],
-        "projected_center_px": [
-          1097.9405517578125,
-          261.8127136230469
-        ],
-        "reprojection_error_px": 0.196494988463858,
-        "confidence": 0.24627951083020566
-      },
-      {
-        "marker_id": 84,
-        "observed_center_px": [
-          579.25,
-          279.75
-        ],
-        "projected_center_px": [
-          579.1668090820312,
-          279.55206298828125
-        ],
-        "reprojection_error_px": 0.21470861519890594,
-        "confidence": 0.1988568274481309
+        "reprojection_error_px": 0.5765445675749078,
+        "confidence": 0.3365648061477581
      },
      {
        "marker_id": 86,
        "observed_center_px": [
-          514.0,
-          278.75
+          575.0,
+          447.0
        ],
        "projected_center_px": [
-          513.7302856445312,
-          278.986572265625
+          579.1835327148438,
+          448.5457458496094
        ],
-        "reprojection_error_px": 0.358764923604397,
-        "confidence": 0.17646704338372862
-      },
-      {
-        "marker_id": 93,
-        "observed_center_px": [
-          1104.25,
-          154.5
-        ],
-        "projected_center_px": [
-          1104.2188720703125,
-          154.6721649169922
-        ],
-        "reprojection_error_px": 0.17495629925657652,
-        "confidence": 0.15396639291733288
+        "reprojection_error_px": 4.459963700272966,
+        "confidence": 0.23837700458521172
      }
    ]
  },
--- a/data/evaluations/Scene8/render_b_aruco_detection.json
+++ b/data/evaluations/Scene8/render_b_aruco_detection.json
--- a/data/evaluations/Scene8/render_b_camera_pose.json
+++ b/data/evaluations/Scene8/render_b_camera_pose.json
--- a/data/evaluations/Scene8/render_c_aruco_detection.json
+++ b/data/evaluations/Scene8/render_c_aruco_detection.json
--- a/data/evaluations/Scene8/render_c_camera_pose.json
+++ b/data/evaluations/Scene8/render_c_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:06:54Z",
+  "created_utc": "2026-06-02T09:26:18Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_c_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -9,14 +9,14 @@
    "camera_id": "c",
    "camera_matrix": [
      [
-        1777.77783203125,
+        1992.8416748046875,
        0.0,
-        640.0
+        719.249267578125
      ],
      [
        0.0,
-        1777.77783203125,
-        360.0
+        1997.40380859375,
+        537.7935791015625
      ],
      [
        0.0,
@@ -25,8 +25,8 @@
      ]
    ],
    "distortion_coefficients": [
-      0.0,
-      0.0,
+      0.019999999552965164,
+      -0.009999999776482582,
      0.0,
      0.0,
      0.0
@@ -36,218 +36,252 @@
    "method": "single_camera_marker_center_lm",
    "description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
    "marker_size_m": 0.025,
-    "num_used_markers": 4,
+    "num_used_markers": 6,
    "used_marker_ids": [
-      208,
-      214,
-      210,
-      53
+      58,
+      96,
+      62,
+      64,
+      103,
+      79
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
-        3
+        3,
+        4,
+        5
      ],
      "rms": [
-        0.00815907053784058,
-        0.00038889026461633554,
-        8.059741566258575e-05,
-        8.057603531058918e-05
+        0.008060964890453673,
+        0.001687788907003638,
+        0.001615771600648295,
+        0.0016144804680602973,
+        0.0016144588069979954,
+        0.0016144587116802625
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
-        0.000125
+        0.000125,
+        6.25e-05,
+        3.125e-05
      ]
    },
-    "residual_rms_px": 0.20259041142176823,
-    "residual_median_px": 0.15068860335028333,
-    "residual_max_px": 0.3306448827815234,
-    "sigma2_normalized": 2.5969989343700774e-08
+    "residual_rms_px": 4.569664709614535,
+    "residual_median_px": 3.4097577854259855,
+    "residual_max_px": 7.300332489835429,
+    "sigma2_normalized": 5.212953862940554e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
-          0.993758499622345,
-          0.1115521565079689,
-          -0.00043949359678663313
+          0.9903468489646912,
+          0.1377483606338501,
+          -0.015441976487636566
        ],
        [
-          0.03268022835254669,
-          -0.2948930859565735,
-          -0.9549712538719177
+          0.017909228801727295,
+          -0.23763218522071838,
+          -0.9711900949478149
        ],
        [
-          -0.1066587045788765,
-          0.9489964246749878,
-          -0.29669803380966187
+          -0.13744935393333435,
+          0.961538553237915,
+          -0.23780524730682373
        ]
      ],
      "translation_m": [
-        -0.1977902352809906,
-        0.10628540813922882,
-        1.004310965538025
+        -0.19436030089855194,
+        0.11987753957509995,
+        1.0130555629730225
      ],
      "rvec_rad": [
-        1.8698444553315385,
-        0.1043155347711448,
-        -0.07745837314462278
+        1.808717924054327,
+        0.11417895302102635,
+        -0.11214983000389785
      ]
    },
    "camera_in_world": {
      "position_m": [
-        0.30020081996917725,
-        -0.8996807336807251,
-        0.39938968420028687
+        0.32958102226257324,
+        -0.9188324213027954,
+        0.35433250665664673
      ],
      "position_mm": [
-        300.2008056640625,
-        -899.6807250976562,
-        399.3896789550781
+        329.5810241699219,
+        -918.8323974609375,
+        354.33251953125
      ],
      "orientation_deg": {
-        "roll": 107.36153411865234,
-        "pitch": 6.122739791870117,
-        "yaw": 1.8835203647613525
+        "roll": 103.89148712158203,
+        "pitch": 7.900278091430664,
+        "yaw": 1.036012053489685
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
-          8.246326043381866e-07,
-          1.2959856028252544e-07,
-          1.9490143121569102e-07,
-          9.573930417634736e-09,
-          -5.2672319999591544e-08,
-          5.321782151119725e-08
+          0.0034778393481963584,
+          4.4185978631961e-05,
+          -8.003370492743897e-05,
+          -1.3856173739953472e-05,
+          -0.0006477614289393936,
+          -0.00024635032155738646
        ],
        [
-          1.295985602825249e-07,
-          3.532319095277726e-07,
-          -1.0692949930590009e-07,
-          5.005679212475838e-09,
-          -5.3080608967819447e-08,
-          9.967726495155003e-08
+          4.418597863194223e-05,
+          0.00034590636036440205,
+          -0.0007080640933831824,
+          0.0001018082839319476,
+          9.41127144867031e-07,
+          6.005180402876456e-05
        ],
        [
-          1.9490143121568835e-07,
-          -1.0692949930589784e-07,
-          7.262839896596602e-07,
-          1.9345880069809947e-09,
-          -9.100117867657551e-08,
-          -1.834612034473196e-07
+          -8.00337049273839e-05,
+          -0.0007080640933831868,
+          0.0015948179675871477,
+          -0.00021944776536572794,
+          -1.6134946696694943e-05,
+          -0.00013257695677967442
        ],
        [
-          9.57393041763478e-09,
-          5.005679212475731e-09,
-          1.9345880069806957e-09,
-          8.309753146754929e-09,
-          1.344349962827341e-09,
-          2.2053170650725068e-08
+          -1.3856173739960179e-05,
+          0.00010180828393194783,
+          -0.00021944776536572701,
+          3.157531134555321e-05,
+          6.170838505855742e-06,
+          2.0129025127002506e-05
        ],
        [
-          -5.2672319999591e-08,
-          -5.308060896781994e-08,
-          -9.100117867657526e-08,
-          1.344349962827285e-09,
-          3.4310938619868394e-08,
-          3.7279011506444744e-08
+          -0.0006477614289393956,
+          9.411271448637507e-07,
+          -1.6134946696685015e-05,
+          6.170838505854559e-06,
+          0.000123297985756716,
+          5.1645302279776396e-05
        ],
        [
-          5.3217821511198174e-08,
-          9.967726495154872e-08,
-          -1.8346120344732167e-07,
-          2.2053170650725124e-08,
-          3.727901150644531e-08,
-          2.94676495254624e-07
+          -0.00024635032155739264,
+          6.005180402876332e-05,
+          -0.00013257695677966987,
+          2.0129025127002035e-05,
+          5.164530227977739e-05,
+          4.347468886868764e-05
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
-          0.05202988708375333,
-          0.03405278190727662,
-          0.048828779353641404
+          3.3789159647111244,
+          1.065618879484457,
+          2.2881168132566816
        ],
        "tvec_std_m": [
-          9.11578474227805e-05,
-          0.00018523212091823706,
-          0.0005428411326112126
+          0.0056191913426714,
+          0.011103962615062966,
+          0.006593533868017032
        ]
      },
      "camera_center_std_m": [
-        0.0007788493900434405,
-        0.0005268799492092695,
-        0.0008621405191751387
+        0.03208084066179351,
+        0.024173204971729725,
+        0.043013438612719584
      ],
      "camera_center_std_mm": [
-        0.7788493900434406,
-        0.5268799492092695,
-        0.8621405191751387
+        32.08084066179351,
+        24.173204971729724,
+        43.01343861271958
      ],
      "orientation_std_deg": {
-        "roll": 0.05852006383811758,
-        "pitch": 0.041075651933117956,
-        "yaw": 0.03201289781064694
+        "roll": 3.1584093553030326,
+        "pitch": 2.1085372628857764,
+        "yaw": 0.6097578410878511
      }
    }
  },
  "observations": {
    "markers": [
      {
-        "marker_id": 208,
+        "marker_id": 58,
        "observed_center_px": [
-          922.5,
-          650.25
+          283.25,
+          1033.75
        ],
        "projected_center_px": [
-          922.323486328125,
-          650.3744506835938
+          285.57012939453125,
+          1034.13916015625
        ],
-        "reprojection_error_px": 0.21597464898859506,
-        "confidence": 0.2964796698261984
+        "reprojection_error_px": 2.352540336440689,
+        "confidence": 0.3455642187784726
      },
      {
-        "marker_id": 214,
+        "marker_id": 96,
        "observed_center_px": [
-          916.25,
-          583.75
+          1097.25,
+          1038.25
        ],
        "projected_center_px": [
-          916.5070190429688,
-          583.5419921875
+          1089.95361328125,
+          1038.010009765625
        ],
-        "reprojection_error_px": 0.3306448827815234,
-        "confidence": 0.21966133686197709
+        "reprojection_error_px": 7.300332489835429,
+        "confidence": 0.24498606281991034
      },
      {
-        "marker_id": 210,
+        "marker_id": 62,
        "observed_center_px": [
-          314.25,
-          563.5
+          1171.5,
+          1028.25
        ],
        "projected_center_px": [
-          314.2375183105469,
-          563.5274047851562
+          1177.969970703125,
+          1029.0487060546875
        ],
-        "reprojection_error_px": 0.030113366152997114,
-        "confidence": 0.233781757000696
+        "reprojection_error_px": 6.519083697966324,
+        "confidence": 0.37942062793404846
      },
      {
-        "marker_id": 53,
+        "marker_id": 64,
        "observed_center_px": [
-          1113.0,
-          491.0
+          149.75,
+          989.75
        ],
        "projected_center_px": [
-          1112.935546875,
-          491.0560302734375
+          147.24081420898438,
+          991.6749267578125
        ],
-        "reprojection_error_px": 0.08540255771197162,
-        "confidence": 0.12244968744253681
+        "reprojection_error_px": 3.162492111733601,
+        "confidence": 0.5991514656644388
+      },
+      {
+        "marker_id": 103,
+        "observed_center_px": [
+          439.0,
+          1009.0
+        ],
+        "projected_center_px": [
+          440.64642333984375,
+          1005.7345581054688
+        ],
+        "reprojection_error_px": 3.6570234591183697,
+        "confidence": 0.5340468635229503
+      },
+      {
+        "marker_id": 79,
+        "observed_center_px": [
+          946.25,
+          998.25
+        ],
+        "projected_center_px": [
+          945.5975341796875,
+          998.6529541015625
+        ],
+        "reprojection_error_px": 0.7668661256321765,
+        "confidence": 0.4739639622362142
      }
    ]
  },
--- a/data/evaluations/Scene8/render_d_aruco_detection.json
+++ b/data/evaluations/Scene8/render_d_aruco_detection.json
--- a/data/evaluations/Scene8/render_d_camera_pose.json
+++ b/data/evaluations/Scene8/render_d_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:06:54Z",
+  "created_utc": "2026-06-02T09:26:18Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_d_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -9,14 +9,14 @@
    "camera_id": "d",
    "camera_matrix": [
      [
-        1777.77783203125,
+        1992.8416748046875,
        0.0,
-        640.0
+        719.249267578125
      ],
      [
        0.0,
-        1777.77783203125,
-        360.0
+        1997.40380859375,
+        537.7935791015625
      ],
      [
        0.0,
@@ -25,8 +25,8 @@
      ]
    ],
    "distortion_coefficients": [
-      0.0,
-      0.0,
+      0.019999999552965164,
+      -0.009999999776482582,
      0.0,
      0.0,
      0.0
@@ -36,17 +36,21 @@
    "method": "single_camera_marker_center_lm",
    "description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
    "marker_size_m": 0.025,
-    "num_used_markers": 9,
+    "num_used_markers": 13,
    "used_marker_ids": [
+      95,
+      79,
      208,
+      69,
+      51,
      103,
      58,
      214,
      64,
      211,
      72,
-      84,
-      86
+      86,
+      82
    ],
    "history": {
      "iters": [
@@ -56,10 +60,10 @@
        3
      ],
      "rms": [
-        0.006333816581738461,
-        0.0002773011027338013,
-        0.00010662089465453542,
-        0.00010661827813541825
+        0.008237146829032859,
+        0.001509217099976037,
+        0.0014907597054314484,
+        0.0014907596665234592
      ],
      "lambda": [
        0.001,
@@ -68,256 +72,308 @@
        0.000125
      ]
    },
-    "residual_rms_px": 0.26803473514416426,
-    "residual_median_px": 0.23863200652285652,
-    "residual_max_px": 0.4319714965335605,
-    "sigma2_normalized": 1.705118584239489e-08
+    "residual_rms_px": 4.21549309232492,
+    "residual_median_px": 2.8684983195085114,
+    "residual_max_px": 6.622990539635173,
+    "sigma2_normalized": 2.8890736983326024e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
-          0.8189369440078735,
-          0.5738833546638489,
-          -0.0004457749892026186
+          0.8175153732299805,
+          0.5759067535400391,
+          -0.00018532715330366045
        ],
        [
-          0.16132032871246338,
-          -0.23095093667507172,
-          -0.9594985246658325
+          0.1622372269630432,
+          -0.23060892522335052,
+          -0.9594261646270752
        ],
        [
-          -0.5507431626319885,
-          0.7856968641281128,
-          -0.2817133069038391
+          -0.5525827407836914,
+          0.7843155860900879,
+          -0.2819598615169525
        ]
      ],
      "translation_m": [
-        -0.11497107893228531,
-        0.08632615953683853,
-        1.1260302066802979
+        -0.11462152004241943,
+        0.08701033145189285,
+        1.123681664466858
      ],
      "rvec_rad": [
-        1.7909599776987175,
-        0.5647279566505399,
-        -0.42338173600008655
+        1.7905941346127963,
+        0.567239730908252,
+        -0.42478435912553886
      ]
    },
    "camera_in_world": {
      "position_m": [
-        0.700381338596344,
-        -0.7988013029098511,
-        0.399996280670166
+        0.700515627861023,
+        -0.7952443957328796,
+        0.40029188990592957
      ],
      "position_mm": [
-        700.38134765625,
-        -798.8013305664062,
-        399.99627685546875
+        700.515625,
+        -795.244384765625,
+        400.2919006347656
      ],
      "orientation_deg": {
-        "roll": 109.72539520263672,
-        "pitch": 33.41801071166992,
-        "yaw": 11.14387035369873
+        "roll": 109.77339935302734,
+        "pitch": 33.54438018798828,
+        "yaw": 11.224601745605469
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
-          2.852092030612513e-07,
-          1.2324146194593454e-07,
-          1.264823680030996e-07,
-          4.270453715882081e-10,
-          -5.4504294706706134e-08,
-          -1.2152984007154248e-08
+          2.0757464916191975e-05,
+          9.347096893928711e-06,
+          9.134260885308986e-06,
+          -2.985702417337643e-08,
+          -4.301757303662951e-06,
+          3.7474696707257913e-07
        ],
        [
-          1.2324146194593555e-07,
-          1.4531202385393299e-07,
-          -6.015151106190092e-09,
-          1.2042222954696699e-08,
-          -2.833712756388377e-08,
-          2.8730439663963055e-08
+          9.347096893928674e-06,
+          1.362713820201992e-05,
+          5.249178703192597e-07,
+          1.3710063842659647e-06,
+          -2.469810189358187e-06,
+          2.733043813951436e-06
        ],
        [
-          1.2648236800309913e-07,
-          -6.015151106190755e-09,
-          2.52995940259767e-07,
-          -1.5169021186969528e-08,
-          -4.255829665011247e-08,
-          -7.174617911570197e-08
+          9.134260885309064e-06,
+          5.249178703192951e-07,
+          2.522765015223782e-05,
+          -1.7601888134883997e-06,
+          -3.899436198323691e-06,
+          -5.83329388748779e-06
        ],
        [
-          4.2704537158833995e-10,
-          1.2042222954696763e-08,
-          -1.5169021186969502e-08,
-          3.898596269933436e-09,
-          7.43659570879186e-10,
-          9.126450926756841e-09
+          -2.985702417338506e-08,
+          1.371006384265964e-06,
+          -1.7601888134884022e-06,
+          4.7662316889369773e-07,
+          5.7052018890671985e-08,
+          6.480147475619658e-07
        ],
        [
-          -5.4504294706706287e-08,
-          -2.8337127563883675e-08,
-          -4.25582966501126e-08,
-          7.436595708792132e-10,
-          1.636505724746816e-08,
-          1.2574879808690192e-08
+          -4.301757303662961e-06,
+          -2.4698101893581967e-06,
+          -3.89943619832368e-06,
+          5.705201889067057e-08,
+          1.5205255981716627e-06,
+          1.2020542566462838e-06
        ],
        [
-          -1.2152984007153812e-08,
-          2.873043966396327e-08,
-          -7.174617911570175e-08,
-          9.126450926756889e-09,
-          1.25748798086901e-08,
-          6.448855219127798e-08
+          3.7474696707254705e-07,
+          2.733043813951423e-06,
+          -5.833293887487798e-06,
+          6.48014747561965e-07,
+          1.2020542566462901e-06,
+          6.808360000605134e-06
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
-          0.030598800350524608,
-          0.02184104472411403,
-          0.02881903328031589
+          0.26104163966122534,
+          0.21150710584299198,
+          0.2877802809708147
        ],
        "tvec_std_m": [
-          6.243874013730126e-05,
-          0.00012792598347274162,
-          0.0002539459631324703
+          0.0006903790038042131,
+          0.0012330959403759557,
+          0.00260928342665283
        ]
      },
      "camera_center_std_m": [
-        0.0004250847347260799,
-        0.0002691146356882737,
-        0.0005312504732236512
+        0.003932140973598785,
+        0.002631137596152846,
+        0.004542071489418429
      ],
      "camera_center_std_mm": [
-        0.4250847347260799,
-        0.2691146356882737,
-        0.5312504732236512
+        3.9321409735987847,
+        2.6311375961528456,
+        4.542071489418429
      ],
      "orientation_std_deg": {
-        "roll": 0.04070540096755981,
-        "pitch": 0.024066544562857728,
-        "yaw": 0.03135403694731619
+        "roll": 0.353326327190086,
+        "pitch": 0.21926008707993383,
+        "yaw": 0.2942584170009973
      }
    }
  },
  "observations": {
    "markers": [
      {
-        "marker_id": 208,
+        "marker_id": 95,
        "observed_center_px": [
-          887.5,
-          696.5
+          422.0,
+          1048.0
        ],
        "projected_center_px": [
-          887.3656616210938,
-          696.5743408203125
+          423.94635009765625,
+          1045.7978515625
        ],
-        "reprojection_error_px": 0.15353617688315221,
-        "confidence": 0.06739671544456982
+        "reprojection_error_px": 2.9390026273261793,
+        "confidence": 0.1966298037464167
+      },
+      {
+        "marker_id": 79,
+        "observed_center_px": [
+          835.25,
+          1017.25
+        ],
+        "projected_center_px": [
+          836.6177368164062,
+          1018.6941528320312
+        ],
+        "reprojection_error_px": 1.989040321666955,
+        "confidence": 0.6308599149142898
+      },
+      {
+        "marker_id": 208,
+        "observed_center_px": [
+          1003.5,
+          919.75
+        ],
+        "projected_center_px": [
+          997.0012817382812,
+          919.888671875
+        ],
+        "reprojection_error_px": 6.500197607312626,
+        "confidence": 0.6159321401194328
+      },
+      {
+        "marker_id": 69,
+        "observed_center_px": [
+          128.0,
+          929.75
+        ],
+        "projected_center_px": [
+          123.5754623413086,
+          933.7342529296875
+        ],
+        "reprojection_error_px": 5.954057851658972,
+        "confidence": 0.6598390021609063
+      },
+      {
+        "marker_id": 51,
+        "observed_center_px": [
+          549.0,
+          937.75
+        ],
+        "projected_center_px": [
+          550.3080444335938,
+          936.2489013671875
+        ],
+        "reprojection_error_px": 1.9910493076986193,
+        "confidence": 0.7948303912231248
      },
      {
        "marker_id": 103,
        "observed_center_px": [
-          379.5,
-          691.25
+          419.5,
+          915.25
        ],
        "projected_center_px": [
-          379.2528991699219,
-          691.2681274414062
+          425.51165771484375,
+          912.8583374023438
        ],
-        "reprojection_error_px": 0.24776485698588377,
-        "confidence": 0.17416420855033052
+        "reprojection_error_px": 6.469936511393927,
+        "confidence": 0.7846660865006628
      },
      {
        "marker_id": 58,
        "observed_center_px": [
-          261.5,
-          685.0
+          291.75,
+          903.25
        ],
        "projected_center_px": [
-          261.3277587890625,
-          685.1651611328125
+          292.7833557128906,
+          905.9259033203125
        ],
-        "reprojection_error_px": 0.23863200652285652,
-        "confidence": 0.24540823915500745
+        "reprojection_error_px": 2.8684983195085114,
+        "confidence": 0.7544565338036628
      },
      {
        "marker_id": 214,
        "observed_center_px": [
-          958.75,
-          638.25
+          1072.75,
+          853.25
        ],
        "projected_center_px": [
-          958.7680053710938,
-          638.2145385742188
+          1077.7689208984375,
+          853.9087524414062
        ],
-        "reprojection_error_px": 0.03977066892400416,
-        "confidence": 0.32624039952470835
+        "reprojection_error_px": 5.061968170961902,
+        "confidence": 0.44724371562957765
      },
      {
        "marker_id": 64,
        "observed_center_px": [
-          211.25,
-          632.0
+          238.5,
+          848.0
        ],
        "projected_center_px": [
-          211.57020568847656,
-          631.8875732421875
+          237.2322235107422,
+          845.58056640625
        ],
-        "reprojection_error_px": 0.3393692072138837,
-        "confidence": 0.4478501628460533
+        "reprojection_error_px": 2.731467763178051,
+        "confidence": 0.5667786136218291
      },
      {
        "marker_id": 211,
        "observed_center_px": [
-          792.0,
-          593.5
+          897.0,
+          804.25
        ],
        "projected_center_px": [
-          792.3621826171875,
-          593.3333740234375
+          890.5628662109375,
+          802.6920166015625
        ],
-        "reprojection_error_px": 0.3986733804233661,
-        "confidence": 0.3071912693949274
+        "reprojection_error_px": 6.622990539635173,
+        "confidence": 0.43521670392955913
      },
      {
        "marker_id": 72,
        "observed_center_px": [
-          1249.25,
-          596.5
+          1405.75,
+          807.25
        ],
        "projected_center_px": [
-          1249.38916015625,
-          596.4339599609375
+          1406.5570068359375,
+          807.2078857421875
        ],
-        "reprojection_error_px": 0.1540351773034359,
-        "confidence": 0.018959818235601233
-      },
-      {
-        "marker_id": 84,
-        "observed_center_px": [
-          1226.5,
-          549.5
-        ],
-        "projected_center_px": [
-          1226.63623046875,
-          549.5099487304688
-        ],
-        "reprojection_error_px": 0.13659325698505237,
-        "confidence": 0.07285288505606423
+        "reprojection_error_px": 0.808104970879992,
+        "confidence": 0.022083521685104014
      },
      {
        "marker_id": 86,
        "observed_center_px": [
-          1175.0,
-          518.25
+          1322.0,
+          716.0
        ],
        "projected_center_px": [
-          1174.581787109375,
-          518.358154296875
+          1322.1175537109375,
+          718.4990234375
        ],
-        "reprojection_error_px": 0.4319714965335605,
-        "confidence": 0.1152962676763461
+        "reprojection_error_px": 2.501786764720266,
+        "confidence": 0.14159707466679353
+      },
+      {
+        "marker_id": 82,
+        "observed_center_px": [
+          1096.25,
+          668.0
+        ],
+        "projected_center_px": [
+          1097.362060546875,
+          666.7478637695312
+        ],
+        "reprojection_error_px": 1.6746712511918316,
+        "confidence": 0.14648935281724867
      }
    ]
  },
--- a/data/evaluations/Scene8/render_e_aruco_detection.json
+++ b/data/evaluations/Scene8/render_e_aruco_detection.json
--- a/data/evaluations/Scene8/render_e_camera_pose.json
+++ b/data/evaluations/Scene8/render_e_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:06:55Z",
+  "created_utc": "2026-06-02T09:26:18Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_e_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -9,14 +9,14 @@
    "camera_id": "e",
    "camera_matrix": [
      [
-        1777.77783203125,
+        1992.8416748046875,
        0.0,
-        640.0
+        719.249267578125
      ],
      [
        0.0,
-        1777.77783203125,
-        360.0
+        1997.40380859375,
+        537.7935791015625
      ],
      [
        0.0,
@@ -25,8 +25,8 @@
      ]
    ],
    "distortion_coefficients": [
-      0.0,
-      0.0,
+      0.019999999552965164,
+      -0.009999999776482582,
      0.0,
      0.0,
      0.0
@@ -36,32 +36,29 @@
    "method": "single_camera_marker_center_lm",
    "description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
    "marker_size_m": 0.025,
-    "num_used_markers": 24,
+    "num_used_markers": 21,
    "used_marker_ids": [
+      63,
+      48,
+      59,
+      102,
      92,
-      217,
      85,
      105,
      206,
+      54,
      97,
      47,
      96,
+      208,
      62,
-      66,
      79,
-      55,
-      214,
-      51,
-      72,
      95,
-      103,
-      60,
+      214,
      69,
-      215,
+      103,
      211,
-      84,
-      86,
-      64
+      215
    ],
    "history": {
      "iters": [
@@ -71,10 +68,10 @@
        3
      ],
      "rms": [
-        0.00630902936296045,
-        0.0003503162776966026,
-        0.00021566918101323604,
-        0.00021566812595044202
+        0.004815641841240819,
+        0.001371489895181257,
+        0.0013336416110231277,
+        0.001333639841690074
      ],
      "lambda": [
        0.001,
@@ -83,451 +80,412 @@
        0.000125
      ]
    },
-    "residual_rms_px": 0.5422246805563434,
-    "residual_median_px": 0.3729435356233405,
-    "residual_max_px": 1.156746455284857,
-    "sigma2_normalized": 5.315741777237922e-08
+    "residual_rms_px": 3.7663398885651316,
+    "residual_median_px": 2.711463110481496,
+    "residual_max_px": 5.706813692245177,
+    "sigma2_normalized": 2.0750277652117733e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
-          0.628989577293396,
-          0.7774136662483215,
-          0.0003507443470880389
+          0.6279904842376709,
+          0.7782192826271057,
+          0.001631719060242176
        ],
        [
-          0.20666556060314178,
-          -0.1667739301919937,
-          -0.9640932679176331
+          0.20466548204421997,
+          -0.16313284635543823,
+          -0.9651423096656799
        ],
        [
-          -0.7494407892227173,
-          0.6064770817756653,
-          -0.2655636966228485
+          -0.7508261799812317,
+          0.606434166431427,
+          -0.2617205083370209
        ]
      ],
      "translation_m": [
-        -0.0547354631125927,
-        -0.012683164328336716,
-        1.5506757497787476
+        -0.05409296229481697,
+        -0.009956633672118187,
+        1.551354169845581
      ],
      "rvec_rad": [
-        1.7014036416595382,
-        0.8122514235119389,
-        -0.618293153268835
+        1.6968351960309789,
+        0.8124307612912404,
+        -0.6192675451832501
      ]
    },
    "camera_in_world": {
      "position_m": [
-        1.1991888284683228,
-        -0.9000124335289001,
-        0.39959463477134705
+        1.2008049488067627,
+        -0.9003222584724426,
+        0.396499902009964
      ],
      "position_mm": [
-        1199.1888427734375,
-        -900.012451171875,
-        399.5946350097656
+        1200.804931640625,
+        -900.322265625,
+        396.4999084472656
      ],
      "orientation_deg": {
-        "roll": 113.6476058959961,
-        "pitch": 48.54195785522461,
-        "yaw": 18.188844680786133
+        "roll": 113.34371185302734,
+        "pitch": 48.66199493408203,
+        "yaw": 18.051067352294922
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
-          1.5485173782981606e-07,
-          1.851377328432404e-08,
-          2.8229623479655052e-08,
-          -7.317051195299001e-09,
-          -4.280031938579823e-08,
-          1.8275230708455525e-08
+          1.3764901065181256e-05,
+          -2.6343200183057547e-06,
+          -1.7792462239186622e-06,
+          -1.1776382754720932e-06,
+          -3.25713296960347e-06,
+          2.9493476507120495e-06
        ],
        [
-          1.8513773284323837e-08,
-          1.0380973901699848e-07,
-          -5.469400592592144e-09,
-          2.6108967750081833e-08,
-          -2.4877532375984845e-08,
-          1.3731464588840119e-08
+          -2.634320018305711e-06,
+          4.079565468771306e-06,
+          -1.0513676457715303e-07,
+          1.4941849402320754e-06,
+          -3.4016160884462696e-07,
+          -1.0138446940443035e-06
        ],
        [
-          2.8229623479655505e-08,
-          -5.469400592592516e-09,
-          1.8802524747108885e-07,
-          -3.206860716836395e-08,
-          -2.6161782348223145e-08,
-          -6.56867737643066e-09
+          -1.7792462239188447e-06,
+          -1.0513676457712176e-07,
+          1.4538372703691469e-05,
+          -2.7595292367475745e-06,
+          -3.8096888188857533e-07,
+          4.68198284679755e-06
        ],
        [
-          -7.31705119529937e-09,
-          2.6108967750082253e-08,
-          -3.206860716836374e-08,
-          1.5545230996657885e-08,
-          5.669806552012708e-10,
-          1.0393580529714659e-08
+          -1.1776382754720415e-06,
+          1.494184940232071e-06,
+          -2.7595292367475906e-06,
+          1.231469860555483e-06,
+          1.7201704626480728e-07,
+          -9.8257787688162e-07
        ],
        [
-          -4.280031938579823e-08,
-          -2.4877532375984858e-08,
-          -2.61617823482231e-08,
-          5.669806552012895e-10,
-          2.2136595117839976e-08,
-          4.531501344506167e-09
+          -3.257132969603471e-06,
+          -3.4016160884461563e-07,
+          -3.8096888188862657e-07,
+          1.720170462648215e-07,
+          1.3083685718285844e-06,
+          -1.9333178781147397e-07
        ],
        [
-          1.82752307084554e-08,
-          1.3731464588840142e-08,
-          -6.568677376430668e-09,
-          1.0393580529714648e-08,
-          4.531501344506207e-09,
-          1.1521125853314904e-07
+          2.949347650711978e-06,
+          -1.0138446940442993e-06,
+          4.681982846797574e-06,
+          -9.82577876881622e-07,
+          -1.933317878114537e-07,
+          7.357793746565789e-06
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
-          0.022546579968103234,
-          0.018460424438188426,
-          0.024844526084444037
+          0.2125735275711923,
+          0.11572563858614514,
+          0.21846432713492553
        ],
        "tvec_std_m": [
-          0.0001246805157057745,
-          0.00014878371926336557,
-          0.0003394278399500386
+          0.0011097161171017941,
+          0.0011438393994912853,
+          0.002712525344870678
        ]
      },
      "camera_center_std_m": [
-        0.0003545857525229363,
-        0.0004070677011541022,
-        0.0004736036839720404
+        0.0017381641065211564,
+        0.0034954476894441446,
+        0.0037486534242939227
      ],
      "camera_center_std_mm": [
-        0.3545857525229363,
-        0.40706770115410223,
-        0.47360368397204045
+        1.7381641065211564,
+        3.4954476894441444,
+        3.7486534242939227
      ],
      "orientation_std_deg": {
-        "roll": 0.03250044077834975,
-        "pitch": 0.021578780424367262,
-        "yaw": 0.027073158674549694
+        "roll": 0.244276631986627,
+        "pitch": 0.17699614551829468,
+        "yaw": 0.15402520753370533
      }
    }
  },
  "observations": {
    "markers": [
      {
-        "marker_id": 92,
+        "marker_id": 63,
        "observed_center_px": [
-          1023.0,
-          688.5
+          1315.5,
+          1051.5
        ],
        "projected_center_px": [
-          1022.9679565429688,
-          688.4140625
+          1320.7685546875,
+          1053.3375244140625
        ],
-        "reprojection_error_px": 0.09171715785371658,
-        "confidence": 0.15369374989294518
+        "reprojection_error_px": 5.579799679867904,
+        "confidence": 0.12568593194235728
      },
      {
-        "marker_id": 217,
+        "marker_id": 48,
        "observed_center_px": [
-          1141.25,
-          600.5
+          1024.0,
+          1030.75
        ],
        "projected_center_px": [
-          1140.6944580078125,
-          600.3023071289062
+          1022.7249145507812,
+          1033.0703125
        ],
-        "reprojection_error_px": 0.5896688700999455,
-        "confidence": 0.3233651345714012
+        "reprojection_error_px": 2.6475824822780556,
+        "confidence": 0.5336003353862959
+      },
+      {
+        "marker_id": 59,
+        "observed_center_px": [
+          989.75,
+          951.5
+        ],
+        "projected_center_px": [
+          984.441650390625,
+          951.1694946289062
+        ],
+        "reprojection_error_px": 5.318628523940503,
+        "confidence": 0.697320940739163
+      },
+      {
+        "marker_id": 102,
+        "observed_center_px": [
+          1106.0,
+          936.75
+        ],
+        "projected_center_px": [
+          1103.9541015625,
+          934.9705810546875
+        ],
+        "reprojection_error_px": 2.711463110481496,
+        "confidence": 0.6864050426596802
+      },
+      {
+        "marker_id": 92,
+        "observed_center_px": [
+          1148.5,
+          911.25
+        ],
+        "projected_center_px": [
+          1148.9658203125,
+          909.11865234375
+        ],
+        "reprojection_error_px": 2.181657946457227,
+        "confidence": 0.5564615479175569
      },
      {
        "marker_id": 85,
        "observed_center_px": [
-          675.25,
-          665.5
+          759.0,
+          884.75
        ],
        "projected_center_px": [
-          675.0033569335938,
-          665.3787231445312
+          758.2156372070312,
+          882.3668823242188
        ],
-        "reprojection_error_px": 0.2748470081311891,
-        "confidence": 0.37089318871684795
+        "reprojection_error_px": 2.5088792014791714,
+        "confidence": 0.48917934037555
      },
      {
        "marker_id": 105,
        "observed_center_px": [
-          760.5,
-          654.75
+          849.25,
+          871.0
        ],
        "projected_center_px": [
-          761.2002563476562,
-          655.0924682617188
+          854.9564208984375,
+          871.0669555664062
        ],
-        "reprojection_error_px": 0.7795148893494807,
-        "confidence": 0.420622587927407
+        "reprojection_error_px": 5.706813692245177,
+        "confidence": 0.5666772055387952
      },
      {
        "marker_id": 206,
        "observed_center_px": [
-          1223.0,
-          567.0
+          1375.0,
+          773.25
        ],
        "projected_center_px": [
-          1222.284423828125,
-          566.8446044921875
+          1373.5694580078125,
+          773.4010620117188
        ],
-        "reprojection_error_px": 0.7322547518477325,
-        "confidence": 0.14078817554935588
+        "reprojection_error_px": 1.438495784768345,
+        "confidence": 0.20826195913219595
+      },
+      {
+        "marker_id": 54,
+        "observed_center_px": [
+          545.75,
+          790.75
+        ],
+        "projected_center_px": [
+          544.5643920898438,
+          792.566650390625
+        ],
+        "reprojection_error_px": 2.1693051326134447,
+        "confidence": 0.31086735641350827
      },
      {
        "marker_id": 97,
        "observed_center_px": [
-          411.0,
-          578.0
+          465.25,
+          786.0
        ],
        "projected_center_px": [
-          411.44232177734375,
-          578.3140869140625
+          462.9450988769531,
+          784.6989135742188
        ],
-        "reprojection_error_px": 0.5424934509262193,
-        "confidence": 0.22596816505744277
+        "reprojection_error_px": 2.646770687909131,
+        "confidence": 0.27288814270978706
      },
      {
        "marker_id": 47,
        "observed_center_px": [
-          543.75,
-          569.25
+          607.5,
+          775.75
        ],
        "projected_center_px": [
-          543.7235107421875,
-          569.2677612304688
+          611.3579711914062,
+          774.7861938476562
        ],
-        "reprojection_error_px": 0.03189266510063318,
-        "confidence": 0.24626971873720385
+        "reprojection_error_px": 3.9765392004878093,
+        "confidence": 0.3140291810143517
      },
      {
        "marker_id": 96,
        "observed_center_px": [
-          690.0,
-          544.25
+          780.0,
+          747.25
        ],
        "projected_center_px": [
-          690.022705078125,
-          544.456298828125
+          775.4832153320312,
+          747.3605346679688
        ],
-        "reprojection_error_px": 0.20754451825671197,
-        "confidence": 0.28140192555287236
+        "reprojection_error_px": 4.518136966673381,
+        "confidence": 0.3209641589306251
+      },
+      {
+        "marker_id": 208,
+        "observed_center_px": [
+          878.25,
+          661.5
+        ],
+        "projected_center_px": [
+          873.7838745117188,
+          660.954833984375
+        ],
+        "reprojection_error_px": 4.499275815247146,
+        "confidence": 0.27935774483027703
      },
      {
        "marker_id": 62,
        "observed_center_px": [
-          738.5,
-          556.0
+          829.25,
+          758.0
        ],
        "projected_center_px": [
-          738.579833984375,
-          555.78564453125
+          829.8944702148438,
+          760.1060180664062
        ],
-        "reprojection_error_px": 0.2287394413830286,
-        "confidence": 0.2664122029520185
-      },
-      {
-        "marker_id": 66,
-        "observed_center_px": [
-          331.25,
-          537.25
-        ],
-        "projected_center_px": [
-          330.9709777832031,
-          537.0518798828125
-        ],
-        "reprojection_error_px": 0.34220604655767123,
-        "confidence": 0.16725963004706537
+        "reprojection_error_px": 2.2024200221234524,
+        "confidence": 0.33830762807857967
      },
      {
        "marker_id": 79,
        "observed_center_px": [
-          666.75,
-          511.75
+          747.25,
+          710.25
        ],
        "projected_center_px": [
-          666.0632934570312,
-          511.67083740234375
+          748.7382202148438,
+          710.73193359375
        ],
-        "reprojection_error_px": 0.691254362028752,
-        "confidence": 0.21195569262290176
-      },
-      {
-        "marker_id": 55,
-        "observed_center_px": [
-          519.5,
-          534.0
-        ],
-        "projected_center_px": [
-          519.4553833007812,
-          533.9685668945312
-        ],
-        "reprojection_error_px": 0.05457737597746861,
-        "confidence": 0.22298824455832925
-      },
-      {
-        "marker_id": 214,
-        "observed_center_px": [
-          858.0,
-          444.5
-        ],
-        "projected_center_px": [
-          858.559814453125,
-          444.61431884765625
-        ],
-        "reprojection_error_px": 0.571367675719493,
-        "confidence": 0.1697872859143744
-      },
-      {
-        "marker_id": 51,
-        "observed_center_px": [
-          529.25,
-          463.25
-        ],
-        "projected_center_px": [
-          528.9022827148438,
-          463.1120910644531
-        ],
-        "reprojection_error_px": 0.37406708609566947,
-        "confidence": 0.12157403976480062
-      },
-      {
-        "marker_id": 72,
-        "observed_center_px": [
-          1132.75,
-          455.25
-        ],
-        "projected_center_px": [
-          1133.8419189453125,
-          455.6318054199219
-        ],
-        "reprojection_error_px": 1.156746455284857,
-        "confidence": 0.14675484287524884
+        "reprojection_error_px": 1.5643079609381163,
+        "confidence": 0.28184826428485077
      },
      {
        "marker_id": 95,
        "observed_center_px": [
-          425.25,
-          498.75
+          474.5,
+          697.5
        ],
        "projected_center_px": [
-          425.9288635253906,
-          498.8289794921875
+          479.5652770996094,
+          696.0062866210938
        ],
-        "reprojection_error_px": 0.6834423503793009,
-        "confidence": 0.14922985097126407
+        "reprojection_error_px": 5.280929061647267,
+        "confidence": 0.20813605647909494
      },
      {
-        "marker_id": 103,
+        "marker_id": 214,
        "observed_center_px": [
-          465.0,
-          447.0
+          961.25,
+          635.0
        ],
        "projected_center_px": [
-          465.22216796875,
-          446.9941101074219
+          964.7404174804688,
+          635.97998046875
        ],
-        "reprojection_error_px": 0.22224602847538769,
-        "confidence": 0.10609680160172753
-      },
-      {
-        "marker_id": 60,
-        "observed_center_px": [
-          1195.75,
-          431.0
-        ],
-        "projected_center_px": [
-          1195.7926025390625,
-          430.972900390625
-        ],
-        "reprojection_error_px": 0.05049123847609035,
-        "confidence": 0.1208904643109979
+        "reprojection_error_px": 3.6253794156051153,
+        "confidence": 0.24807496569270426
      },
      {
        "marker_id": 69,
        "observed_center_px": [
-          295.5,
-          440.25
+          334.5,
+          628.75
        ],
        "projected_center_px": [
-          294.4291687011719,
-          439.9130554199219
+          332.2715148925781,
+          630.0933837890625
        ],
-        "reprojection_error_px": 1.1225913417597488,
-        "confidence": 0.08927835602899967
+        "reprojection_error_px": 2.602081066899532,
+        "confidence": 0.13489057979918875
      },
      {
-        "marker_id": 215,
+        "marker_id": 103,
        "observed_center_px": [
-          683.75,
-          432.75
+          518.25,
+          638.75
        ],
        "projected_center_px": [
-          684.21142578125,
-          432.9552917480469
+          523.8551635742188,
+          638.24951171875
        ],
-        "reprojection_error_px": 0.5050331211102045,
-        "confidence": 0.09972560457674447
+        "reprojection_error_px": 5.627463657227588,
+        "confidence": 0.14371958230840387
      },
      {
        "marker_id": 211,
        "observed_center_px": [
-          763.75,
-          413.0
+          863.25,
+          601.0
        ],
        "projected_center_px": [
-          764.0985107421875,
-          412.87042236328125
+          858.9078979492188,
+          600.4103393554688
        ],
-        "reprojection_error_px": 0.37181998515101156,
-        "confidence": 0.13332463075982282
+        "reprojection_error_px": 4.3819573132457315,
+        "confidence": 0.18372733168475885
      },
      {
-        "marker_id": 84,
+        "marker_id": 215,
        "observed_center_px": [
-          1147.5,
-          429.0
+          771.25,
+          622.0
        ],
        "projected_center_px": [
-          1147.703125,
-          429.0707092285156
+          769.286865234375,
+          622.6416625976562
        ],
-        "reprojection_error_px": 0.21508035852275045,
-        "confidence": 0.13255097071329755
-      },
-      {
-        "marker_id": 86,
-        "observed_center_px": [
-          1127.25,
-          408.75
-        ],
-        "projected_center_px": [
-          1126.677978515625,
-          408.52398681640625
-        ],
-        "reprojection_error_px": 0.6150532804113482,
-        "confidence": 0.11774828338549573
-      },
-      {
-        "marker_id": 64,
-        "observed_center_px": [
-          379.0,
-          409.25
-        ],
-        "projected_center_px": [
-          378.81402587890625,
-          409.4864501953125
-        ],
-        "reprojection_error_px": 0.3008239827206471,
-        "confidence": 0.08897781183808398
+        "reprojection_error_px": 2.065339922927093,
+        "confidence": 0.10109279127011955
      }
    ]
  },
--- a/data/evaluations/Scene8/render_f_aruco_detection.json
+++ b/data/evaluations/Scene8/render_f_aruco_detection.json
--- a/data/evaluations/Scene8/render_f_camera_pose.json
+++ b/data/evaluations/Scene8/render_f_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:06:55Z",
+  "created_utc": "2026-06-02T09:26:19Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_f_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -9,14 +9,14 @@
    "camera_id": "f",
    "camera_matrix": [
      [
-        1777.77783203125,
+        1992.8416748046875,
        0.0,
-        640.0
+        719.249267578125
      ],
      [
        0.0,
-        1777.77783203125,
-        360.0
+        1997.40380859375,
+        537.7935791015625
      ],
      [
        0.0,
@@ -25,8 +25,8 @@
      ]
    ],
    "distortion_coefficients": [
-      0.0,
-      0.0,
+      0.019999999552965164,
+      -0.009999999776482582,
      0.0,
      0.0,
      0.0
@@ -36,529 +36,554 @@
    "method": "single_camera_marker_center_lm",
    "description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
    "marker_size_m": 0.025,
-    "num_used_markers": 26,
+    "num_used_markers": 28,
    "used_marker_ids": [
+      68,
      46,
      56,
      208,
      47,
-      62,
-      54,
      53,
      97,
+      54,
+      62,
+      79,
+      96,
      72,
      55,
-      96,
-      84,
-      79,
      66,
+      214,
      95,
-      103,
-      73,
-      210,
-      58,
-      69,
      82,
-      81,
-      101,
+      73,
+      58,
+      103,
+      210,
+      69,
      64,
+      81,
      52,
-      83
+      101,
+      83,
+      61
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
-        3,
-        4
+        3
      ],
      "rms": [
-        0.007353373451031194,
-        0.0003710600488929596,
-        8.906113930528944e-05,
-        8.900491419954867e-05,
-        8.900489226102867e-05
+        0.008135209790281109,
+        0.0014527982840912054,
+        0.0013843537502488976,
+        0.0013843527640684862
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
-        0.000125,
-        6.25e-05
+        0.000125
      ]
    },
-    "residual_rms_px": 0.22376788390648267,
-    "residual_median_px": 0.18825857568728324,
-    "residual_max_px": 0.39640627876435003,
-    "sigma2_normalized": 8.95515834760647e-09
+    "residual_rms_px": 3.915847992270231,
+    "residual_median_px": 3.74465037309556,
+    "residual_max_px": 5.951064138560905,
+    "sigma2_normalized": 2.146404484410943e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
-          0.31644874811172485,
-          0.9486086964607239,
-          0.00130163982976228
+          0.31546780467033386,
+          0.9489362239837646,
+          -0.0003351117193233222
        ],
        [
-          0.9183046221733093,
-          -0.3059948980808258,
-          -0.2511647045612335
+          0.9175019860267639,
+          -0.30510780215263367,
+          -0.25514575839042664
        ],
        [
-          -0.23785872757434845,
-          0.08067604899406433,
-          -0.9679434895515442
+          -0.24221929907798767,
+          0.08018281310796738,
+          -0.9669025540351868
        ]
      ],
      "translation_m": [
-        0.1261357069015503,
-        -0.200173020362854,
-        1.497665524482727
+        0.12667344510555267,
+        -0.19870008528232574,
+        1.4973030090332031
      ],
      "rvec_rad": [
-        2.374582435142889,
-        1.711381147791732,
-        -0.21684955389903504
+        2.3716756112184236,
+        1.710772296732862,
+        -0.2223247348012863
      ]
    },
    "camera_in_world": {
      "position_m": [
-        0.5001371502876282,
-        -0.30173107981681824,
-        1.3992151021957397
+        0.5050220489501953,
+        -0.30088794231414795,
+        1.3970911502838135
      ],
      "position_mm": [
-        500.13714599609375,
-        -301.7310791015625,
-        1399.215087890625
+        505.02203369140625,
+        -300.887939453125,
+        1397.0911865234375
      ],
      "orientation_deg": {
-        "roll": 175.2355194091797,
-        "pitch": 13.760193824768066,
-        "yaw": 70.9859848022461
+        "roll": 175.2594451904297,
+        "pitch": 14.017561912536621,
+        "yaw": 71.02531433105469
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
-          1.9619416958563405e-07,
-          1.232837325475714e-07,
-          3.537784977398958e-08,
-          -1.2874449920644035e-09,
-          -1.3120643407548253e-09,
-          -2.430518562789776e-09
+          3.1830179517747366e-05,
+          1.8531436240022163e-05,
+          2.6283198259929802e-06,
+          -2.645254238843693e-07,
+          5.642139234947599e-09,
+          9.847767446957959e-07
        ],
        [
-          1.2328373254757045e-07,
-          1.0492379739637157e-07,
-          5.587099350476958e-09,
-          2.8771773145648727e-09,
-          -1.376635290194795e-09,
-          2.095544274360706e-09
+          1.853143624002215e-05,
+          1.6463663792795397e-05,
+          -1.2516069438015785e-06,
+          6.278327823937737e-07,
+          -1.4301579879115474e-07,
+          1.244971263350998e-06
        ],
        [
-          3.537784977401896e-08,
-          5.587099350501193e-09,
-          7.216196836933972e-07,
-          4.454379192917962e-09,
-          -1.137281486631975e-08,
-          -1.3327718453309484e-07
+          2.628319825991464e-06,
+          -1.2516069438027961e-06,
+          0.00015753599111081981,
+          1.0021297705879483e-06,
+          -2.453895312275194e-06,
+          -2.8031037799513868e-05
        ],
        [
-          -1.287444992064164e-09,
-          2.8771773145650617e-09,
-          4.454379192917376e-09,
-          1.574259199353428e-09,
-          -9.159737376748967e-11,
-          1.4651163057535826e-09
+          -2.64525423884374e-07,
+          6.278327823937648e-07,
+          1.0021297705879856e-06,
+          3.510958968041347e-07,
+          -2.2839708623828878e-08,
+          3.495550828089251e-07
        ],
        [
-          -1.3120643407551655e-09,
-          -1.3766352901952072e-09,
-          -1.1372814866319643e-08,
-          -9.159737376750992e-11,
-          9.672826358233463e-10,
-          2.788243505342515e-09
+          5.642139234985183e-09,
+          -1.4301579879115254e-07,
+          -2.453895312275184e-06,
+          -2.283970862383126e-08,
+          2.1360917737416452e-07,
+          5.910593803234898e-07
        ],
        [
-          -2.43051856279491e-09,
-          2.0955442743564383e-09,
-          -1.3327718453309545e-07,
-          1.4651163057534658e-09,
-          2.7882435053425046e-09,
-          4.3386424804938955e-08
+          9.847767446960769e-07,
+          1.244971263351225e-06,
+          -2.8031037799513793e-05,
+          3.4955508280893215e-07,
+          5.910593803234839e-07,
+          9.107945071675099e-06
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
-          0.02537848430759805,
-          0.018559216264706715,
-          0.048671733890649
+          0.32325271142385614,
+          0.23248014978369047,
+          0.7191384789969126
        ],
        "tvec_std_m": [
-          3.967693535737643e-05,
-          3.110116775658667e-05,
-          0.00020829408250101335
+          0.0005925334562741034,
+          0.0004621787288205338,
+          0.0030179372212945548
        ]
      },
      "camera_center_std_m": [
-        0.0008369888619904323,
-        0.0007984829430878973,
-        0.0002871572860910438
+        0.011284596923360507,
+        0.01100148226806515,
+        0.004237235917829655
      ],
      "camera_center_std_mm": [
-        0.8369888619904322,
-        0.7984829430878972,
-        0.2871572860910438
+        11.284596923360507,
+        11.00148226806515,
+        4.237235917829655
      ],
      "orientation_std_deg": {
-        "roll": 0.03325401245890173,
-        "pitch": 0.03236575464664165,
-        "yaw": 0.012048758808889037
+        "roll": 0.47291345252048606,
+        "pitch": 0.44224683715376606,
+        "yaw": 0.09897168298492981
      }
    }
  },
  "observations": {
    "markers": [
      {
-        "marker_id": 46,
+        "marker_id": 68,
        "observed_center_px": [
-          1234.0,
-          666.0
+          1395.5,
+          941.75
        ],
        "projected_center_px": [
-          1234.341064453125,
-          665.8336181640625
+          1390.365234375,
+          942.5863647460938
        ],
-        "reprojection_error_px": 0.37948369729856446,
-        "confidence": 0.2988751797371847
+        "reprojection_error_px": 5.202434431320601,
+        "confidence": 0.31452284382469436
+      },
+      {
+        "marker_id": 46,
+        "observed_center_px": [
+          1383.5,
+          882.5
+        ],
+        "projected_center_px": [
+          1388.75537109375,
+          884.8787231445312
+        ],
+        "reprojection_error_px": 5.7686436127873,
+        "confidence": 0.48925581764503895
      },
      {
        "marker_id": 56,
        "observed_center_px": [
-          1196.0,
-          626.75
+          1341.75,
+          844.0
        ],
        "projected_center_px": [
-          1196.113525390625,
-          626.8538208007812
+          1345.434814453125,
+          840.7401123046875
        ],
-        "reprojection_error_px": 0.1538400890256465,
-        "confidence": 0.5697620483284124
+        "reprojection_error_px": 4.919829808032869,
+        "confidence": 0.7106123513263443
      },
      {
        "marker_id": 208,
        "observed_center_px": [
-          831.25,
-          547.75
+          937.0,
+          754.0
        ],
        "projected_center_px": [
-          831.465576171875,
-          547.9014282226562
+          934.489990234375,
+          750.8616333007812
        ],
-        "reprojection_error_px": 0.2634456158244247,
-        "confidence": 0.5829305549976826
+        "reprojection_error_px": 4.01864337336595,
+        "confidence": 0.7365183005875066
      },
      {
        "marker_id": 47,
        "observed_center_px": [
-          593.75,
-          623.75
+          665.0,
+          836.0
        ],
        "projected_center_px": [
-          593.9198608398438,
-          623.669189453125
+          667.7197265625,
+          836.018798828125
        ],
-        "reprojection_error_px": 0.18810382611382645,
-        "confidence": 0.5768583617164568
-      },
-      {
-        "marker_id": 62,
-        "observed_center_px": [
-          751.0,
-          651.75
-        ],
-        "projected_center_px": [
-          750.7454223632812,
-          651.6237182617188
-        ],
-        "reprojection_error_px": 0.28417749830104067,
-        "confidence": 0.5593704450665263
-      },
-      {
-        "marker_id": 54,
-        "observed_center_px": [
-          540.5,
-          639.0
-        ],
-        "projected_center_px": [
-          540.5787353515625,
-          638.9071655273438
-        ],
-        "reprojection_error_px": 0.12172713296153204,
-        "confidence": 0.5766374039623903
+        "reprojection_error_px": 2.7197915307440272,
+        "confidence": 0.7493333333333333
      },
      {
        "marker_id": 53,
        "observed_center_px": [
-          1240.5,
-          594.75
+          1400.0,
+          805.75
        ],
        "projected_center_px": [
-          1240.2264404296875,
-          594.78125
+          1395.23486328125,
+          804.6587524414062
        ],
-        "reprojection_error_px": 0.27533870234596447,
-        "confidence": 0.21364841201201337
+        "reprojection_error_px": 4.888491503778679,
+        "confidence": 0.2519090987485656
      },
      {
        "marker_id": 97,
        "observed_center_px": [
-          491.5,
-          605.25
+          554.5,
+          818.0
        ],
        "projected_center_px": [
-          491.5794372558594,
-          605.20458984375
+          552.8402099609375,
+          815.1640625
        ],
-        "reprojection_error_px": 0.09150060059429786,
-        "confidence": 0.5705029634947052
+        "reprojection_error_px": 3.2859465116884277,
+        "confidence": 0.7363629300822377
      },
      {
-        "marker_id": 72,
+        "marker_id": 54,
        "observed_center_px": [
-          1197.75,
-          548.5
+          610.0,
+          848.75
        ],
        "projected_center_px": [
-          1197.5211181640625,
-          548.55517578125
+          607.798583984375,
+          853.1437377929688
        ],
-        "reprojection_error_px": 0.2354384455832745,
-        "confidence": 0.5440516905787338
+        "reprojection_error_px": 4.914383406614929,
+        "confidence": 0.714264135428559
      },
      {
-        "marker_id": 55,
+        "marker_id": 62,
        "observed_center_px": [
-          598.75,
-          542.75
+          845.25,
+          862.5
        ],
        "projected_center_px": [
-          598.8782958984375,
-          542.7704467773438
+          843.8311157226562,
+          867.6853637695312
        ],
-        "reprojection_error_px": 0.12991500398195047,
-        "confidence": 0.5461315019106076
-      },
-      {
-        "marker_id": 96,
-        "observed_center_px": [
-          723.0,
-          614.5
-        ],
-        "projected_center_px": [
-          722.8250122070312,
-          614.3399658203125
-        ],
-        "reprojection_error_px": 0.237132170648196,
-        "confidence": 0.5763709732716893
-      },
-      {
-        "marker_id": 84,
-        "observed_center_px": [
-          1254.25,
-          485.0
-        ],
-        "projected_center_px": [
-          1254.1002197265625,
-          484.99395751953125
-        ],
-        "reprojection_error_px": 0.14990210766105824,
-        "confidence": 0.06519221426443914
+        "reprojection_error_px": 5.3759864224959335,
+        "confidence": 0.7019920279258633
      },
      {
        "marker_id": 79,
        "observed_center_px": [
-          731.5,
-          535.75
+          821.25,
+          736.5
        ],
        "projected_center_px": [
-          731.5431518554688,
-          535.8726806640625
+          822.3233032226562,
+          737.3298950195312
        ],
-        "reprojection_error_px": 0.13004856002744464,
-        "confidence": 0.5460974493377216
+        "reprojection_error_px": 1.3567260413241375,
+        "confidence": 0.7019048773943901
+      },
+      {
+        "marker_id": 96,
+        "observed_center_px": [
+          816.5,
+          827.0
+        ],
+        "projected_center_px": [
+          812.4840087890625,
+          825.6454467773438
+        ],
+        "reprojection_error_px": 4.238277933233695,
+        "confidence": 0.7073036915264065
+      },
+      {
+        "marker_id": 72,
+        "observed_center_px": [
+          1346.25,
+          753.5
+        ],
+        "projected_center_px": [
+          1346.869140625,
+          752.3975830078125
+        ],
+        "reprojection_error_px": 1.2643806144469019,
+        "confidence": 0.6613219758870197
+      },
+      {
+        "marker_id": 55,
+        "observed_center_px": [
+          675.5,
+          745.75
+        ],
+        "projected_center_px": [
+          673.3976440429688,
+          744.9660034179688
+        ],
+        "reprojection_error_px": 2.2437805620651647,
+        "confidence": 0.7020871814203925
      },
      {
        "marker_id": 66,
        "observed_center_px": [
-          453.0,
-          495.75
+          508.25,
+          693.0
        ],
        "projected_center_px": [
-          452.8733825683594,
-          495.8895263671875
+          509.60662841796875,
+          692.1514892578125
        ],
-        "reprojection_error_px": 0.18841332526074003,
-        "confidence": 0.5349107016469481
+        "reprojection_error_px": 1.6001284773567326,
+        "confidence": 0.6761108765479277
+      },
+      {
+        "marker_id": 214,
+        "observed_center_px": [
+          1037.5,
+          713.75
+        ],
+        "projected_center_px": [
+          1040.814697265625,
+          715.3729858398438
+        ],
+        "reprojection_error_px": 3.6907046751366024,
+        "confidence": 0.6352592753448205
      },
      {
        "marker_id": 95,
        "observed_center_px": [
-          548.75,
-          435.0
+          612.75,
+          626.25
        ],
        "projected_center_px": [
-          548.5177001953125,
-          434.867431640625
+          617.0401611328125,
+          623.6099853515625
        ],
-        "reprojection_error_px": 0.2674650802726027,
-        "confidence": 0.5227826547122322
-      },
-      {
-        "marker_id": 103,
-        "observed_center_px": [
-          618.0,
-          313.5
-        ],
-        "projected_center_px": [
-          617.8211059570312,
-          313.5081481933594
-        ],
-        "reprojection_error_px": 0.1790795121300221,
-        "confidence": 0.5046333482067283
-      },
-      {
-        "marker_id": 73,
-        "observed_center_px": [
-          1247.5,
-          251.25
-        ],
-        "projected_center_px": [
-          1247.839599609375,
-          251.27215576171875
-        ],
-        "reprojection_error_px": 0.3403215721416887,
-        "confidence": 0.13607001327160623
-      },
-      {
-        "marker_id": 210,
-        "observed_center_px": [
-          775.0,
-          150.5
-        ],
-        "projected_center_px": [
-          775.3216552734375,
-          150.4322509765625
-        ],
-        "reprojection_error_px": 0.328712709074182,
-        "confidence": 0.46988879526830113
-      },
-      {
-        "marker_id": 58,
-        "observed_center_px": [
-          562.75,
-          264.25
-        ],
-        "projected_center_px": [
-          562.7431030273438,
-          264.154052734375
-        ],
-        "reprojection_error_px": 0.09619483360729601,
-        "confidence": 0.4655541127751829
-      },
-      {
-        "marker_id": 69,
-        "observed_center_px": [
-          476.25,
-          240.75
-        ],
-        "projected_center_px": [
-          476.10382080078125,
-          241.11846923828125
-        ],
-        "reprojection_error_px": 0.39640627876435003,
-        "confidence": 0.4655541127751829
+        "reprojection_error_px": 5.03737629023876,
+        "confidence": 0.6495692240250537
      },
      {
        "marker_id": 82,
        "observed_center_px": [
-          1207.5,
-          261.5
+          1356.75,
+          429.25
        ],
        "projected_center_px": [
-          1207.3634033203125,
-          261.34552001953125
+          1357.7742919921875,
+          428.85504150390625
        ],
-        "reprojection_error_px": 0.20621037138629777,
-        "confidence": 0.49001748422717006
+        "reprojection_error_px": 1.0978006644633052,
+        "confidence": 0.6131504260989074
      },
      {
-        "marker_id": 81,
+        "marker_id": 73,
        "observed_center_px": [
-          1027.25,
-          214.0
+          1402.0,
+          418.75
        ],
        "projected_center_px": [
-          1027.4215087890625,
-          214.0127716064453
+          1403.4971923828125,
+          417.5040588378906
        ],
-        "reprojection_error_px": 0.17198365810994679,
-        "confidence": 0.44182011377693337
+        "reprojection_error_px": 1.9478075907517742,
+        "confidence": 0.20573872160705156
      },
      {
-        "marker_id": 101,
+        "marker_id": 58,
        "observed_center_px": [
-          1162.25,
-          153.5
+          633.0,
+          428.25
        ],
        "projected_center_px": [
-          1162.3416748046875,
-          153.4523468017578
+          633.2252807617188,
+          431.86285400390625
        ],
-        "reprojection_error_px": 0.10332036158086408,
-        "confidence": 0.46225891142368675
+        "reprojection_error_px": 3.6198709196795957,
+        "confidence": 0.5954680843098741
+      },
+      {
+        "marker_id": 103,
+        "observed_center_px": [
+          690.0,
+          487.75
+        ],
+        "projected_center_px": [
+          694.9348754882812,
+          487.32220458984375
+        ],
+        "reprojection_error_px": 4.9533831870540626,
+        "confidence": 0.5954680843098741
+      },
+      {
+        "marker_id": 210,
+        "observed_center_px": [
+          872.25,
+          307.0
+        ],
+        "projected_center_px": [
+          871.7282104492188,
+          304.10302734375
+        ],
+        "reprojection_error_px": 2.9435887801057876,
+        "confidence": 0.5967915393855434
+      },
+      {
+        "marker_id": 69,
+        "observed_center_px": [
+          538.5,
+          403.0
+        ],
+        "projected_center_px": [
+          536.0862426757812,
+          405.93310546875
+        ],
+        "reprojection_error_px": 3.7985960710545177,
+        "confidence": 0.5651459847123547
      },
      {
        "marker_id": 64,
        "observed_center_px": [
-          570.5,
-          177.75
+          640.5,
+          338.0
        ],
        "projected_center_px": [
-          570.4990844726562,
-          177.69577026367188
+          642.02490234375,
+          334.7812194824219
        ],
-        "reprojection_error_px": 0.054237463920569835,
-        "confidence": 0.43211414091114625
+        "reprojection_error_px": 3.561723624639445,
+        "confidence": 0.5759345404922155
+      },
+      {
+        "marker_id": 81,
+        "observed_center_px": [
+          1152.0,
+          375.5
+        ],
+        "projected_center_px": [
+          1154.97412109375,
+          375.642578125
+        ],
+        "reprojection_error_px": 2.9775367003644493,
+        "confidence": 0.4888879355201727
      },
      {
        "marker_id": 52,
        "observed_center_px": [
-          1054.5,
-          160.5
+          1190.5,
+          312.5
        ],
        "projected_center_px": [
-          1054.46826171875,
-          160.70294189453125
+          1185.4698486328125,
+          315.6800537109375
        ],
-        "reprojection_error_px": 0.20540869273873757,
-        "confidence": 0.45818248585417487
+        "reprojection_error_px": 5.951064138560905,
+        "confidence": 0.5798408315806451
+      },
+      {
+        "marker_id": 101,
+        "observed_center_px": [
+          1307.5,
+          303.5
+        ],
+        "projected_center_px": [
+          1307.0404052734375,
+          307.4356384277344
+        ],
+        "reprojection_error_px": 3.962382761236421,
+        "confidence": 0.5860442781818148
      },
      {
        "marker_id": 83,
        "observed_center_px": [
-          1173.0,
-          64.0
+          1323.0,
+          208.5
        ],
        "projected_center_px": [
-          1172.84375,
-          64.00605773925781
+          1319.00927734375,
+          206.735107421875
        ],
-        "reprojection_error_px": 0.15636738376309697,
-        "confidence": 0.4377857805109236
+        "reprojection_error_px": 4.363566560902648,
+        "confidence": 0.562745572281817
+      },
+      {
+        "marker_id": 61,
+        "observed_center_px": [
+          1280.0,
+          135.0
+        ],
+        "projected_center_px": [
+          1281.8370361328125,
+          132.83253479003906
+        ],
+        "reprojection_error_px": 2.841233392322728,
+        "confidence": 0.544484345073857
      }
    ]
  },
--- a/data/evaluations/Scene8/render_g_aruco_detection.json
+++ b/data/evaluations/Scene8/render_g_aruco_detection.json
--- a/data/evaluations/Scene8/render_g_camera_pose.json
+++ b/data/evaluations/Scene8/render_g_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:06:55Z",
+  "created_utc": "2026-06-02T09:26:19Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_g_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
@@ -9,14 +9,14 @@
    "camera_id": "g",
    "camera_matrix": [
      [
-        1777.77783203125,
+        1992.8416748046875,
        0.0,
-        640.0
+        719.249267578125
      ],
      [
        0.0,
-        1777.77783203125,
-        360.0
+        1997.40380859375,
+        537.7935791015625
      ],
      [
        0.0,
@@ -25,8 +25,8 @@
      ]
    ],
    "distortion_coefficients": [
-      0.0,
-      0.0,
+      0.019999999552965164,
+      -0.009999999776482582,
      0.0,
      0.0,
      0.0
@@ -38,555 +38,552 @@
    "marker_size_m": 0.025,
    "num_used_markers": 28,
    "used_marker_ids": [
-      84,
+      86,
      64,
+      215,
      72,
+      69,
      53,
      58,
-      69,
-      103,
-      56,
-      215,
-      46,
-      68,
      208,
+      56,
+      46,
+      103,
      95,
      55,
      66,
      217,
-      97,
      54,
+      97,
      205,
-      92,
-      105,
      85,
      102,
+      92,
      59,
+      71,
      48,
-      57,
      63,
-      71
+      65,
+      87,
+      80
    ],
    "history": {
      "iters": [
        0,
        1,
        2,
-        3,
-        4
+        3
      ],
      "rms": [
-        0.008380596797804013,
-        0.0005410758584715768,
-        8.709259916235042e-05,
-        8.70385355675932e-05,
-        8.703853441047451e-05
+        0.012561743652089249,
+        0.0016163824690195745,
+        0.0011314931341719165,
+        0.001131465131118967
      ],
      "lambda": [
        0.001,
        0.0005,
        0.00025,
-        0.000125,
-        6.25e-05
+        0.000125
      ]
    },
-    "residual_rms_px": 0.2188329588756622,
-    "residual_median_px": 0.17794355789098962,
-    "residual_max_px": 0.4241965193657976,
-    "sigma2_normalized": 8.484791248994484e-09
+    "residual_rms_px": 3.2011116866033635,
+    "residual_median_px": 2.8670419097059026,
+    "residual_max_px": 5.424280107490077,
+    "sigma2_normalized": 1.43383894380325e-06
  },
  "camera_pose": {
    "world_to_camera": {
      "rotation_matrix": [
        [
-          -0.7071990370750427,
-          -0.707014262676239,
-          0.0005838429206050932
+          -0.7072362899780273,
+          -0.7069751024246216,
+          0.0017388755222782493
        ],
        [
-          -0.6415448188781738,
-          0.6413649320602417,
-          -0.4207983911037445
+          -0.640158474445343,
+          0.6393473744392395,
+          -0.4259484112262726
        ],
        [
-          0.29713600873947144,
-          -0.2979627847671509,
-          -0.9071540236473083
+          0.3000231683254242,
+          -0.30235934257507324,
+          -0.9047457575798035
        ]
      ],
      "translation_m": [
-        -0.00035469781141728163,
-        0.33173155784606934,
-        1.3885538578033447
+        0.0006081345491111279,
+        0.3322913348674774,
+        1.3839123249053955
      ],
      "rvec_rad": [
-        1.1162839608628714,
-        -2.694954763187016,
-        0.5949621099248436
+        1.1155029206880251,
+        -2.69228493407687,
+        0.6030800829828753
      ]
    },
    "camera_in_world": {
      "position_m": [
-        -0.20001952350139618,
-        0.20072562992572784,
-        1.3992245197296143
+        -0.20205654203891754,
+        0.2064191699028015,
+        1.3936266899108887
      ],
      "position_mm": [
-        -200.01951599121094,
-        200.7256317138672,
-        1399.2244873046875
+        -202.05654907226562,
+        206.41917419433594,
+        1393.626708984375
      ],
      "orientation_deg": {
-        "roll": -161.81675720214844,
-        "pitch": -17.285663604736328,
-        "yaw": -137.78683471679688
+        "roll": -161.52073669433594,
+        "pitch": -17.458993911743164,
+        "yaw": -137.85000610351562
      }
    },
    "uncertainty": {
      "pose_covariance_6x6": [
        [
-          3.9202614266929536e-08,
-          -5.624758064579657e-08,
-          1.9002092979602563e-08,
-          3.677793045991329e-09,
-          9.642384554519452e-09,
-          3.500057257207911e-08
+          5.618303632309994e-06,
+          -6.815872421889105e-06,
+          5.844662550438605e-06,
+          4.555428981302671e-07,
+          1.0770603345080526e-06,
+          4.4957986898024816e-06
        ],
        [
-          -5.624758064579686e-08,
-          1.7730001193758587e-07,
-          -8.799489872535942e-08,
-          -2.7037218009021926e-08,
-          -1.6119859220649852e-08,
-          -9.32896875306131e-08
+          -6.815872421889151e-06,
+          1.908399411522487e-05,
+          -1.4071917254239678e-05,
+          -3.0542225001256965e-06,
+          -1.6046686208625145e-06,
+          -1.0989567545186646e-05
        ],
        [
-          1.9002092979602557e-08,
-          -8.799489872535837e-08,
-          3.322018445588287e-07,
-          3.421511111216491e-08,
-          -1.9357076042169092e-08,
-          2.3056213184165007e-09
+          5.844662550438666e-06,
+          -1.4071917254239526e-05,
+          5.558889778210306e-05,
+          5.255595481041318e-06,
+          -2.97215930012512e-06,
+          8.082256703299737e-08
        ],
        [
-          3.6777930459913576e-09,
-          -2.7037218009021913e-08,
-          3.4215111112165093e-08,
-          7.574076973655562e-09,
-          -2.5214832959351115e-10,
-          7.570328774670964e-09
+          4.5554289813027885e-07,
+          -3.0542225001256927e-06,
+          5.2555954810413565e-06,
+          1.0213468586622862e-06,
+          -1.400119917717199e-07,
+          6.496876772866667e-07
        ],
        [
-          9.642384554519472e-09,
-          -1.611985922064988e-08,
-          -1.9357076042168993e-08,
-          -2.5214832959349947e-10,
-          5.455720841232948e-09,
-          1.33187555209256e-08
+          1.077060334508055e-06,
+          -1.604668620862531e-06,
+          -2.972159300125105e-06,
+          -1.4001199177171546e-07,
+          7.51690771915595e-07,
+          1.7516096502846668e-06
        ],
        [
-          3.5000572572079415e-08,
-          -9.328968753061321e-08,
-          2.3056213184173316e-09,
-          7.570328774670982e-09,
-          1.3318755520925603e-08,
-          7.751291617219285e-08
+          4.495798689802506e-06,
+          -1.0989567545186672e-05,
+          8.082256703313794e-08,
+          6.496876772866801e-07,
+          1.7516096502846608e-06,
+          1.1157986283344102e-05
        ]
      ],
      "parameter_std": {
        "rvec_std_deg": [
-          0.011344363845211298,
-          0.024125538440537754,
-          0.03302354197846344
+          0.13580796309657728,
+          0.2502979365976615,
+          0.42718565826727106
        ],
        "tvec_std_m": [
-          8.702917311830304e-05,
-          7.38628515644566e-05,
-          0.00027841141530510715
+          0.001010617068261904,
+          0.0008670010218653695,
+          0.0033403572089439927
        ]
      },
      "camera_center_std_m": [
-        0.0006001213331363563,
-        0.0007005844631310261,
-        0.00037386586549212754
+        0.006015252866511974,
+        0.00891007897445108,
+        0.004493905135422485
      ],
      "camera_center_std_mm": [
-        0.6001213331363563,
-        0.7005844631310261,
-        0.3738658654921275
+        6.0152528665119736,
+        8.91007897445108,
+        4.4939051354224855
      ],
      "orientation_std_deg": {
-        "roll": 0.020799509337956407,
-        "pitch": 0.024459922187381827,
-        "yaw": 0.011530363449194381
+        "roll": 0.26328696937523083,
+        "pitch": 0.24747218468240606,
+        "yaw": 0.11283610096151622
      }
    }
  },
  "observations": {
    "markers": [
      {
-        "marker_id": 84,
+        "marker_id": 86,
        "observed_center_px": [
-          65.25,
-          662.0
+          70.5,
+          958.75
        ],
        "projected_center_px": [
-          65.15103149414062,
-          661.9536743164062
+          72.53253173828125,
+          955.8460083007812
        ],
-        "reprojection_error_px": 0.10927412370943719,
-        "confidence": 0.3490767193505014
+        "reprojection_error_px": 3.5446231190709123,
+        "confidence": 0.5575992832021898
      },
      {
        "marker_id": 64,
        "observed_center_px": [
-          819.5,
-          647.0
+          921.75,
+          859.0
        ],
        "projected_center_px": [
-          819.5327758789062,
-          646.9321899414062
+          922.4539794921875,
+          862.7168579101562
        ],
-        "reprojection_error_px": 0.07531575057426548,
-        "confidence": 0.5331747682067169
-      },
-      {
-        "marker_id": 72,
-        "observed_center_px": [
-          102.25,
-          581.0
-        ],
-        "projected_center_px": [
-          102.25408935546875,
-          581.1792602539062
-        ],
-        "reprojection_error_px": 0.17930689183264265,
-        "confidence": 0.43254677700170213
-      },
-      {
-        "marker_id": 53,
-        "observed_center_px": [
-          52.0,
-          559.0
-        ],
-        "projected_center_px": [
-          52.02786636352539,
-          559.1117553710938
-        ],
-        "reprojection_error_px": 0.11517724247624178,
-        "confidence": 0.27711751756945874
-      },
-      {
-        "marker_id": 58,
-        "observed_center_px": [
-          781.0,
-          564.0
-        ],
-        "projected_center_px": [
-          780.9808349609375,
-          563.824462890625
-        ],
-        "reprojection_error_px": 0.1765802239493366,
-        "confidence": 0.48073279309443956
-      },
-      {
-        "marker_id": 69,
-        "observed_center_px": [
-          869.0,
-          547.5
-        ],
-        "projected_center_px": [
-          868.9163208007812,
-          547.3129272460938
-        ],
-        "reprojection_error_px": 0.20493516934864944,
-        "confidence": 0.45546210617301425
-      },
-      {
-        "marker_id": 103,
-        "observed_center_px": [
-          708.25,
-          543.5
-        ],
-        "projected_center_px": [
-          708.2188720703125,
-          543.635986328125
-        ],
-        "reprojection_error_px": 0.139503510506188,
-        "confidence": 0.4795917219326271
-      },
-      {
-        "marker_id": 56,
-        "observed_center_px": [
-          84.25,
-          514.75
-        ],
-        "projected_center_px": [
-          84.41259765625,
-          514.6609497070312
-        ],
-        "reprojection_error_px": 0.185385955497749,
-        "confidence": 0.39662908657084783
+        "reprojection_error_px": 3.782937991787819,
+        "confidence": 0.616540888528013
      },
      {
        "marker_id": 215,
        "observed_center_px": [
-          504.5,
-          495.5
+          567.0,
+          692.5
        ],
        "projected_center_px": [
-          504.49505615234375,
-          495.4730224609375
+          568.231201171875,
+          691.8600463867188
        ],
-        "reprojection_error_px": 0.027426797908558738,
-        "confidence": 0.39338762460270227
+        "reprojection_error_px": 1.3875867370287527,
+        "confidence": 0.4424958960552566
      },
      {
-        "marker_id": 46,
+        "marker_id": 72,
        "observed_center_px": [
-          41.5,
-          498.0
+          115.75,
+          787.5
        ],
        "projected_center_px": [
-          41.32355880737305,
-          498.03680419921875
+          114.72067260742188,
+          788.7645263671875
        ],
-        "reprojection_error_px": 0.18023885134941084,
-        "confidence": 0.1698001278724927
+        "reprojection_error_px": 1.6305035462776822,
+        "confidence": 0.4975235789090466
      },
      {
-        "marker_id": 68,
+        "marker_id": 69,
        "observed_center_px": [
-          29.25,
-          458.0
+          977.0,
+          755.0
        ],
        "projected_center_px": [
-          29.114898681640625,
-          458.09796142578125
+          977.819091796875,
+          750.5571899414062
        ],
-        "reprojection_error_px": 0.16687961877813764,
-        "confidence": 0.07718187630567852
+        "reprojection_error_px": 4.517684427718443,
+        "confidence": 0.5873934926369923
+      },
+      {
+        "marker_id": 53,
+        "observed_center_px": [
+          54.75,
+          764.5
+        ],
+        "projected_center_px": [
+          57.99109649658203,
+          763.926025390625
+        ],
+        "reprojection_error_px": 3.291527510497748,
+        "confidence": 0.3317064405086114
+      },
+      {
+        "marker_id": 58,
+        "observed_center_px": [
+          880.5,
+          773.0
+        ],
+        "projected_center_px": [
+          878.9620361328125,
+          769.0654907226562
+        ],
+        "reprojection_error_px": 4.2244166591706325,
+        "confidence": 0.5891897879835948
      },
      {
        "marker_id": 208,
        "observed_center_px": [
-          424.5,
-          417.75
+          475.0,
+          603.5
        ],
        "projected_center_px": [
-          424.3829650878906,
-          417.7440185546875
+          478.2018127441406,
+          604.4447021484375
        ],
-        "reprojection_error_px": 0.11718766291924913,
-        "confidence": 0.4316478958478293
+        "reprojection_error_px": 3.338273056207917,
+        "confidence": 0.5365098825483792
+      },
+      {
+        "marker_id": 56,
+        "observed_center_px": [
+          97.5,
+          709.5
+        ],
+        "projected_center_px": [
+          94.76349639892578,
+          713.7679443359375
+        ],
+        "reprojection_error_px": 5.069891597791136,
+        "confidence": 0.509707248070139
+      },
+      {
+        "marker_id": 46,
+        "observed_center_px": [
+          51.5,
+          694.75
+        ],
+        "projected_center_px": [
+          46.084373474121094,
+          695.0562744140625
+        ],
+        "reprojection_error_px": 5.424280107490077,
+        "confidence": 0.290584867175275
+      },
+      {
+        "marker_id": 103,
+        "observed_center_px": [
+          801.5,
+          744.5
+        ],
+        "projected_center_px": [
+          797.1474609375,
+          746.2955322265625
+        ],
+        "reprojection_error_px": 4.708347084403705,
+        "confidence": 0.5886722764049094
      },
      {
        "marker_id": 95,
        "observed_center_px": [
-          710.75,
-          415.25
+          802.5,
+          599.0
        ],
        "projected_center_px": [
-          710.908203125,
-          415.144775390625
+          800.06884765625,
+          601.823974609375
        ],
-        "reprojection_error_px": 0.19000117678026882,
-        "confidence": 0.4181682027393045
+        "reprojection_error_px": 3.726303035572362,
+        "confidence": 0.5086613910190547
      },
      {
        "marker_id": 55,
        "observed_center_px": [
-          622.75,
-          351.75
+          699.0,
+          531.75
        ],
        "projected_center_px": [
-          622.661376953125,
-          351.86688232421875
+          700.9326782226562,
+          530.701171875
        ],
-        "reprojection_error_px": 0.14668170353587198,
-        "confidence": 0.39668368657567366
+        "reprojection_error_px": 2.1989282726184447,
+        "confidence": 0.5054980739107272
      },
      {
        "marker_id": 66,
        "observed_center_px": [
-          761.5,
-          332.5
+          857.5,
+          508.5
        ],
        "projected_center_px": [
-          761.3377075195312,
-          332.7164611816406
+          856.6405029296875,
+          509.2656555175781
        ],
-        "reprojection_error_px": 0.2705444369673035,
-        "confidence": 0.3829765144945479
+        "reprojection_error_px": 1.1510706257539531,
+        "confidence": 0.5046753915740128
      },
      {
        "marker_id": 217,
        "observed_center_px": [
-          201.5,
-          202.0
+          229.25,
+          365.25
        ],
        "projected_center_px": [
-          201.80841064453125,
-          201.79034423828125
+          227.83612060546875,
+          361.5851135253906
        ],
-        "reprojection_error_px": 0.37292447503757425,
-        "confidence": 0.3382587531306593
-      },
-      {
-        "marker_id": 97,
-        "observed_center_px": [
-          682.75,
-          268.75
-        ],
-        "projected_center_px": [
-          682.692138671875,
-          268.71795654296875
-        ],
-        "reprojection_error_px": 0.06614163916098906,
-        "confidence": 0.3623898971459892
+        "reprojection_error_px": 3.928160869166993,
+        "confidence": 0.4158618894065431
      },
      {
        "marker_id": 54,
        "observed_center_px": [
-          630.25,
-          262.5
+          709.5,
+          434.5
        ],
        "projected_center_px": [
-          630.4234008789062,
-          262.6108703613281
+          709.6185913085938,
+          430.4962463378906
        ],
-        "reprojection_error_px": 0.20581569868814423,
-        "confidence": 0.3590718541167963
+        "reprojection_error_px": 4.005509616182216,
+        "confidence": 0.47669546512195393
+      },
+      {
+        "marker_id": 97,
+        "observed_center_px": [
+          766.0,
+          436.5
+        ],
+        "projected_center_px": [
+          768.2981567382812,
+          437.37957763671875
+        ],
+        "reprojection_error_px": 2.4607277811093318,
+        "confidence": 0.45270011191053483
      },
      {
        "marker_id": 205,
        "observed_center_px": [
-          133.0,
-          135.0
+          148.0,
+          285.0
        ],
        "projected_center_px": [
-          133.00042724609375,
-          135.02919006347656
+          150.280517578125,
+          286.4183654785156
        ],
-        "reprojection_error_px": 0.029193190044775386,
-        "confidence": 0.29591817114314195
-      },
-      {
-        "marker_id": 92,
-        "observed_center_px": [
-          291.0,
-          157.0
-        ],
-        "projected_center_px": [
-          291.0001220703125,
-          157.40155029296875
-        ],
-        "reprojection_error_px": 0.40155031152328863,
-        "confidence": 0.3158166687011719
-      },
-      {
-        "marker_id": 105,
-        "observed_center_px": [
-          442.5,
-          182.75
-        ],
-        "projected_center_px": [
-          442.3433837890625,
-          182.87738037109375
-        ],
-        "reprojection_error_px": 0.20187718164369384,
-        "confidence": 0.31800273344664126
+        "reprojection_error_px": 2.685613720322037,
+        "confidence": 0.38107014005487916
      },
      {
        "marker_id": 85,
        "observed_center_px": [
-          494.0,
-          166.0
+          556.0,
+          319.5
        ],
        "projected_center_px": [
-          493.9403076171875,
-          165.65689086914062
+          556.3596801757812,
+          321.56689453125
        ],
-        "reprojection_error_px": 0.3482629125314807,
-        "confidence": 0.2969848480224609
+        "reprojection_error_px": 2.0979568232356898,
+        "confidence": 0.40168081794344246
      },
      {
        "marker_id": 102,
        "observed_center_px": [
-          318.5,
-          130.0
+          359.0,
+          279.75
        ],
        "projected_center_px": [
-          318.8728332519531,
-          129.79766845703125
+          359.6034851074219,
+          281.0721435546875
        ],
-        "reprojection_error_px": 0.4241965193657976,
-        "confidence": 0.3170967427530611
+        "reprojection_error_px": 1.453360882259355,
+        "confidence": 0.36215529762078374
+      },
+      {
+        "marker_id": 92,
+        "observed_center_px": [
+          329.0,
+          309.25
+        ],
+        "projected_center_px": [
+          328.24249267578125,
+          312.03265380859375
+        ],
+        "reprojection_error_px": 2.8839173990817337,
+        "confidence": 0.36117119671607356
      },
      {
        "marker_id": 59,
        "observed_center_px": [
-          379.75,
-          109.0
+          425.0,
+          258.5
        ],
        "projected_center_px": [
-          379.90716552734375,
-          109.25081634521484
+          428.2326354980469,
+          258.0950012207031
        ],
-        "reprojection_error_px": 0.29598959781075196,
-        "confidence": 0.3170967427530611
-      },
-      {
-        "marker_id": 48,
-        "observed_center_px": [
-          369.5,
-          44.25
-        ],
-        "projected_center_px": [
-          369.56671142578125,
-          44.28301239013672
-        ],
-        "reprojection_error_px": 0.0744327362946315,
-        "confidence": 0.17828567290874034
-      },
-      {
-        "marker_id": 57,
-        "observed_center_px": [
-          463.0,
-          70.5
-        ],
-        "projected_center_px": [
-          463.0251770019531,
-          70.45142364501953
-        ],
-        "reprojection_error_px": 0.054713286234114755,
-        "confidence": 0.3167426670523156
-      },
-      {
-        "marker_id": 63,
-        "observed_center_px": [
-          243.0,
-          42.0
-        ],
-        "projected_center_px": [
-          242.71270751953125,
-          41.72708511352539
-        ],
-        "reprojection_error_px": 0.3962568669352444,
-        "confidence": 0.15449597168691093
+        "reprojection_error_px": 3.2579067320082578,
+        "confidence": 0.3829018389079366
      },
      {
        "marker_id": 71,
        "observed_center_px": [
-          299.25,
-          29.5
+          337.0,
+          166.0
        ],
        "projected_center_px": [
-          299.2705383300781,
-          29.458524703979492
+          337.52728271484375,
+          168.32102966308594
        ],
-        "reprojection_error_px": 0.04628199630943727,
-        "confidence": 0.08171792300897739
+        "reprojection_error_px": 2.3801692709338584,
+        "confidence": 0.3408600931480542
+      },
+      {
+        "marker_id": 48,
+        "observed_center_px": [
+          415.5,
+          187.75
+        ],
+        "projected_center_px": [
+          416.590087890625,
+          185.1165313720703
+        ],
+        "reprojection_error_px": 2.8501664203300714,
+        "confidence": 0.3384322903762507
+      },
+      {
+        "marker_id": 63,
+        "observed_center_px": [
+          275.5,
+          183.5
+        ],
+        "projected_center_px": [
+          273.87469482421875,
+          181.97755432128906
+        ],
+        "reprojection_error_px": 2.226984005116994,
+        "confidence": 0.3375471143770103
+      },
+      {
+        "marker_id": 65,
+        "observed_center_px": [
+          310.5,
+          124.5
+        ],
+        "projected_center_px": [
+          309.15228271484375,
+          123.18411254882812
+        ],
+        "reprojection_error_px": 1.8835874455040698,
+        "confidence": 0.3375471143770103
+      },
+      {
+        "marker_id": 87,
+        "observed_center_px": [
+          161.0,
+          66.0
+        ],
+        "projected_center_px": [
+          161.47378540039062,
+          64.667236328125
+        ],
+        "reprojection_error_px": 1.4144722021634208,
+        "confidence": 0.3158166687011719
+      },
+      {
+        "marker_id": 80,
+        "observed_center_px": [
+          299.0,
+          56.75
+        ],
+        "projected_center_px": [
+          298.6283874511719,
+          58.556793212890625
+        ],
+        "reprojection_error_px": 1.8446131303322555,
+        "confidence": 0.2485923429199218
      }
    ]
  },
--- a/data/evaluations/Scene8/robot_state.json
+++ b/data/evaluations/Scene8/robot_state.json
@@ -1,58 +1,58 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-06-02T05:07:09Z",
+  "created_utc": "2026-06-02T09:26:33Z",
  "method": "hybrid",
  "movements": {
    "x": {
-      "value": 50.19702884143383,
+      "value": 52.71680357433185,
      "unit": "mm",
      "observable": true,
      "confidence": "medium",
      "n_markers": 3
    },
    "y": {
-      "value": -2.085226948673948,
+      "value": -2.4451532872107116,
      "unit": "deg",
      "observable": true,
      "confidence": "medium",
      "n_markers": 3
    },
    "z": {
-      "value": 94.94715440460612,
+      "value": 94.6739025934215,
      "unit": "deg",
      "observable": true,
      "confidence": "high",
-      "n_markers": 4
+      "n_markers": 3
    },
    "a": {
-      "value": 20.301658023887335,
+      "value": 20.96650348696646,
      "unit": "deg",
      "observable": true,
      "confidence": "high",
-      "n_markers": 4
+      "n_markers": 3
    },
    "b": {
-      "value": 59.335494423176975,
+      "value": 58.92773548591313,
      "unit": "deg",
      "observable": true,
      "confidence": "medium",
-      "n_markers": 4
+      "n_markers": 5
    },
    "c": {
-      "value": 8.567498988785404,
+      "value": 9.045859059059458,
      "unit": "deg",
      "observable": true,
      "confidence": "medium",
-      "n_markers": 4
+      "n_markers": 5
    },
    "e": {
-      "value": 2.9307576101641413,
+      "value": 1.2993720253335839,
      "unit": "mm",
      "observable": true,
      "confidence": "medium",
-      "n_markers": 4
+      "n_markers": 5
    }
  },
-  "residual_rms": 1.5005838046235978,
-  "num_markers": 56
+  "residual_rms": 2.1752805972816693,
+  "num_markers": 54
 }
--- a/data/robot/robot.json
+++ b/data/robot/robot.json
@@ -99,6 +99,12 @@
    "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,
@@ -209,13 +215,13 @@
    "e": 1
  },
  "defaultPosition": {
-    "x": 180,
-    "y": 86,
-    "z": -120,
-    "a": -60,
-    "b": 22,
-    "c": 91,
-    "e": 10
+    "x": 50,
+    "y": -2,
+    "z": 95,
+    "a": 20,
+    "b": 60,
+    "c": 9,
+    "e": 3
  },
  "recognized": {
    "x": null,
--- a/data/simulation/Scene6/pose.json
+++ b/data/simulation/Scene6/pose.json
@@ -10,8 +10,8 @@
    "e": 3
  },
  "rendering": {
-    "width": 1280,
-    "height": 720,
+    "width": 1440,
+    "height": 1080,
    "dofFStop": 11.0
  },
  "camera_positions": {
--- a/data/simulation/Scene6/render_a.json
+++ b/data/simulation/Scene6/render_a.json
--- a/data/simulation/Scene6/render_a.npz
+++ b/data/simulation/Scene6/render_a.npz
--- a/data/simulation/Scene6/render_a.png
+++ b/data/simulation/Scene6/render_a.png
--- a/data/simulation/Scene6/render_b.json
+++ b/data/simulation/Scene6/render_b.json
--- a/data/simulation/Scene6/render_b.npz
+++ b/data/simulation/Scene6/render_b.npz
--- a/data/simulation/Scene6/render_b.png
+++ b/data/simulation/Scene6/render_b.png
--- a/data/simulation/Scene6/render_c.json
+++ b/data/simulation/Scene6/render_c.json
--- a/data/simulation/Scene6/render_c.npz
+++ b/data/simulation/Scene6/render_c.npz
--- a/data/simulation/Scene6/render_c.png
+++ b/data/simulation/Scene6/render_c.png
--- a/data/simulation/Scene6/render_d.json
+++ b/data/simulation/Scene6/render_d.json
--- a/data/simulation/Scene6/render_d.npz
+++ b/data/simulation/Scene6/render_d.npz
--- a/data/simulation/Scene6/render_d.png
+++ b/data/simulation/Scene6/render_d.png
--- a/data/simulation/Scene6/render_e.json
+++ b/data/simulation/Scene6/render_e.json
--- a/data/simulation/Scene6/render_e.npz
+++ b/data/simulation/Scene6/render_e.npz
--- a/data/simulation/Scene6/render_e.png
+++ b/data/simulation/Scene6/render_e.png
--- a/data/simulation/Scene6/render_f.json
+++ b/data/simulation/Scene6/render_f.json
--- a/data/simulation/Scene6/render_f.npz
+++ b/data/simulation/Scene6/render_f.npz
--- a/data/simulation/Scene6/render_f.png
+++ b/data/simulation/Scene6/render_f.png
--- a/data/simulation/Scene6/render_g.json
+++ b/data/simulation/Scene6/render_g.json
--- a/data/simulation/Scene6/render_g.npz
+++ b/data/simulation/Scene6/render_g.npz
--- a/data/simulation/Scene6/render_g.png
+++ b/data/simulation/Scene6/render_g.png
--- a/data/simulation/Scene8/pose.json
+++ b/data/simulation/Scene8/pose.json
@@ -10,8 +10,8 @@
    "e": 3
  },
  "rendering": {
-    "width": 1280,
-    "height": 720,
+    "width": 1440,
+    "height": 1080,
    "dofFStop": 11.0
  },
  "camera_positions": {
--- a/data/simulation/Scene8/render_a.json
+++ b/data/simulation/Scene8/render_a.json
--- a/data/simulation/Scene8/render_a.npz
+++ b/data/simulation/Scene8/render_a.npz
--- a/data/simulation/Scene8/render_a.png
+++ b/data/simulation/Scene8/render_a.png
--- a/data/simulation/Scene8/render_b.json
+++ b/data/simulation/Scene8/render_b.json
--- a/data/simulation/Scene8/render_b.npz
+++ b/data/simulation/Scene8/render_b.npz
--- a/data/simulation/Scene8/render_b.png
+++ b/data/simulation/Scene8/render_b.png
--- a/data/simulation/Scene8/render_c.json
+++ b/data/simulation/Scene8/render_c.json
--- a/data/simulation/Scene8/render_c.npz
+++ b/data/simulation/Scene8/render_c.npz
--- a/data/simulation/Scene8/render_c.png
+++ b/data/simulation/Scene8/render_c.png
--- a/data/simulation/Scene8/render_d.json
+++ b/data/simulation/Scene8/render_d.json
--- a/data/simulation/Scene8/render_d.npz
+++ b/data/simulation/Scene8/render_d.npz
--- a/data/simulation/Scene8/render_d.png
+++ b/data/simulation/Scene8/render_d.png
--- a/data/simulation/Scene8/render_e.json
+++ b/data/simulation/Scene8/render_e.json
--- a/data/simulation/Scene8/render_e.npz
+++ b/data/simulation/Scene8/render_e.npz
--- a/data/simulation/Scene8/render_e.png
+++ b/data/simulation/Scene8/render_e.png
--- a/data/simulation/Scene8/render_f.json
+++ b/data/simulation/Scene8/render_f.json
--- a/data/simulation/Scene8/render_f.npz
+++ b/data/simulation/Scene8/render_f.npz
--- a/data/simulation/Scene8/render_f.png
+++ b/data/simulation/Scene8/render_f.png
--- a/data/simulation/Scene8/render_g.json
+++ b/data/simulation/Scene8/render_g.json
--- a/data/simulation/Scene8/render_g.npz
+++ b/data/simulation/Scene8/render_g.npz
--- a/data/simulation/Scene8/render_g.png
+++ b/data/simulation/Scene8/render_g.png
--- a/data/simulation/debug/markers.json
+++ b/data/simulation/debug/markers.json
@@ -1798,25 +1798,25 @@
    "id": 198,
    "link": "Arm1",
    "position_m": [
-      0.2908938527107239,
-      0.13223707675933838,
-      0.2233067750930786
+      0.16089382767677307,
+      -0.05336204171180725,
+      0.09088674932718277
    ],
    "position_mm": [
-      290.8938527107239,
-      132.23707675933838,
-      223.3067750930786
+      160.89382767677307,
+      -53.36204171180725,
+      90.88674932718277
    ],
    "rotation_quaternion": [
-      0.731194019317627,
-      -0.681849479675293,
-      -0.014251436106860638,
-      -0.015282794833183289
+      0.9996293783187866,
+      0.01744861528277397,
+      0.000364696083124727,
+      -0.02089340053498745
    ],
    "normal": [
-      1.8626449271863521e-09,
-      0.9975640177726746,
-      0.06975647062063217
+      5.820766091346741e-11,
+      -0.03489953652024269,
+      0.9993908405303955
    ]
  },
  {
@@ -1824,25 +1824,25 @@
    "id": 229,
    "link": "Arm1",
    "position_m": [
-      0.2871265113353729,
-      0.1260058730840683,
-      0.31241700053215027
+      0.15712648630142212,
+      -0.14263543486595154,
+      0.08776925504207611
    ],
    "position_mm": [
-      287.1265113353729,
-      126.0058730840683,
-      312.41700053215027
+      157.12648630142212,
+      -142.63543486595154,
+      87.76925504207611
    ],
    "rotation_quaternion": [
-      0.731352686882019,
-      -0.6819973587989807,
-      0.0011515404330566525,
-      0.0012348758755251765
+      0.9998462796211243,
+      0.017452402040362358,
+      -2.9468068532878533e-05,
+      0.0016882226336747408
    ],
    "normal": [
-      2.3283064365386963e-10,
-      0.9975640773773193,
-      0.06975659728050232
+      0.0,
+      -0.03489953652024269,
+      0.9993908405303955
    ]
  },
  {
@@ -1850,25 +1850,25 @@
    "id": 242,
    "link": "Arm1",
    "position_m": [
-      0.28994330763816833,
-      0.05530886352062225,
-      0.30560460686683655
+      0.15994328260421753,
+      -0.13829448819160461,
+      0.016877561807632446
    ],
    "position_mm": [
-      289.94330763816833,
-      55.30886352062225,
-      305.60460686683655
+      159.94328260421753,
+      -138.29448819160461,
+      16.877561807632446
    ],
    "rotation_quaternion": [
-      0.49376755952835083,
-      0.5295010209083557,
-      0.5044868588447571,
-      -0.4704415500164032
+      0.01263562124222517,
+      -0.723891019821167,
+      -0.6896935701370239,
+      -0.012038656510412693
    ],
    "normal": [
-      -8.940696716308594e-08,
-      -0.9975640177726746,
-      -0.06975668668746948
+      -6.332993507385254e-08,
+      0.03489959239959717,
+      -0.9993908405303955
    ]
  },
  {
@@ -1876,25 +1876,25 @@
    "id": 243,
    "link": "Arm1",
    "position_m": [
-      0.29063552618026733,
-      0.08418963849544525,
-      0.3455321788787842
+      0.16063550114631653,
+      -0.17718979716300964,
+      0.04713420197367668
    ],
    "position_mm": [
-      290.63552618026733,
-      84.18963849544525,
-      345.5321788787842
+      160.63550114631653,
+      -177.18979716300964,
+      47.13420197367668
    ],
    "rotation_quaternion": [
-      0.9993830323219299,
-      0.0348992645740509,
-      0.000138139832415618,
-      -0.003955804277211428
+      0.6946529150009155,
+      0.7193341851234436,
+      0.0028473015408962965,
+      -0.0027496074326336384
    ],
    "normal": [
-      -1.1641530794914701e-10,
-      -0.06975655257701874,
-      0.9975640177726746
+      -4.656613428188905e-10,
+      -0.9993909001350403,
+      -0.03489956632256508
    ]
  },
  {
@@ -1902,25 +1902,25 @@
    "id": 244,
    "link": "Ellbow",
    "position_m": [
-      0.4155000150203705,
-      0.09317012131214142,
-      0.31327733397483826
+      0.2854999899864197,
+      -0.14111287891864777,
+      0.048454251140356064
    ],
    "position_mm": [
-      415.5000150203705,
-      93.17012131214142,
-      313.27733397483826
+      285.4999899864197,
+      -141.11287891864777,
+      48.454251140356064
    ],
    "rotation_quaternion": [
-      0.6742300391197205,
-      0.21310511231422424,
-      0.6742300987243652,
-      0.21310511231422424
+      0.4915550947189331,
+      -0.5083047151565552,
+      0.4915551245212555,
+      -0.5083046555519104
    ],
    "normal": [
      1.0,
-      2.980232594040899e-08,
-      -8.568168397005138e-08
+      0.0,
+      -1.1920927533992653e-07
    ]
  },
  {
@@ -1928,25 +1928,25 @@
    "id": 245,
    "link": "Ellbow",
    "position_m": [
-      0.3797415494918823,
-      0.11156880110502243,
-      0.28174030780792236
+      0.24974152445793152,
+      -0.1773720681667328,
+      0.05273985490202904
    ],
    "position_mm": [
-      379.7415494918823,
-      111.56880110502243,
-      281.74030780792236
+      249.74152445793152,
+      -177.3720681667328,
+      52.73985490202904
    ],
    "rotation_quaternion": [
-      0.2062123566865921,
-      -0.6744897365570068,
-      -0.6779249906539917,
-      -0.20726260542869568
+      0.511612594127655,
+      0.48550233244895935,
+      0.48797500133514404,
+      -0.5142183303833008
    ],
    "normal": [
-      -2.9802318834981634e-08,
-      0.5591931939125061,
-      -0.8290373086929321
+      -8.940696716308594e-08,
+      -0.9986295700073242,
+      0.05233581364154816
    ]
  },
  {
@@ -1954,25 +1954,25 @@
    "id": 246,
    "link": "Ellbow",
    "position_m": [
-      0.3804028630256653,
-      0.06753406673669815,
-      0.33767998218536377
+      0.2504028081893921,
+      -0.10619588941335678,
+      0.05424221232533455
    ],
    "position_mm": [
-      380.4028630256653,
-      67.53406673669815,
-      337.67998218536377
+      250.4028081893921,
+      -106.19588941335678,
+      54.24221232533455
    ],
    "rotation_quaternion": [
-      0.9562409520149231,
-      0.2923523187637329,
-      -0.0033771544694900513,
-      0.011046166531741619
+      0.688308596611023,
+      -0.7253260016441345,
+      0.008378714323043823,
+      0.007951104082167149
    ],
    "normal": [
-      -1.862645149230957e-09,
-      -0.5591931343078613,
-      0.8290374875068665
+      -2.7939681679356454e-09,
+      0.9986295700073242,
+      -0.052336134016513824
    ]
  },
  {
@@ -1980,25 +1980,25 @@
    "id": 247,
    "link": "Ellbow",
    "position_m": [
-      0.34214141964912415,
-      0.0729345753788948,
-      0.3413226902484894
+      0.21214139461517334,
+      -0.10653681308031082,
+      0.047736942768096924
    ],
    "position_mm": [
-      342.14141964912415,
-      72.9345753788948,
-      341.3226902484894
+      212.14139461517334,
+      -106.53681308031082,
+      47.736942768096924
    ],
    "rotation_quaternion": [
-      0.9561297297477722,
-      0.2923183739185333,
-      -0.005593009293079376,
-      0.018293898552656174
+      0.6882286667823792,
+      -0.7252416014671326,
+      0.013876251876354218,
+      0.013168072327971458
    ],
    "normal": [
      0.0,
-      -0.5591931939125061,
-      0.8290373682975769
+      0.9986295700073242,
+      -0.05233585834503174
    ]
  },
  {
@@ -2006,25 +2006,25 @@
    "id": 248,
    "link": "Ellbow",
    "position_m": [
-      0.3461109697818756,
-      0.11090230941772461,
-      0.281290739774704
+      0.2161109298467636,
+      -0.17732998728752136,
+      0.053542688488960266
    ],
    "position_mm": [
-      346.1109697818756,
-      110.90230941772461,
-      281.290739774704
+      216.1109298467636,
+      -177.32998728752136,
+      53.542688488960266
    ],
    "rotation_quaternion": [
-      0.2099425047636032,
-      -0.6866903901100159,
-      -0.665563702583313,
-      -0.20348335802555084
+      0.5208669900894165,
+      0.4942845106124878,
+      0.4790772497653961,
+      -0.5048421025276184
    ],
    "normal": [
-      -8.940695295223122e-08,
-      0.5591931939125061,
-      -0.8290373086929321
+      -2.0861622829215776e-07,
+      -0.9986295700073242,
+      0.052335791289806366
    ]
  },
  {
@@ -2032,25 +2032,25 @@
    "id": 232,
    "link": "Ellbow",
    "position_m": [
-      0.3778913617134094,
-      0.12536777555942535,
-      0.3033978044986725
+      0.24789133667945862,
+      -0.16838005185127258,
+      0.028685705736279488
    ],
    "position_mm": [
-      377.8913617134094,
-      125.36777555942535,
-      303.3978044986725
+      247.89133667945862,
+      -168.38005185127258,
+      28.685705736279488
    ],
    "rotation_quaternion": [
-      0.6359248161315918,
-      -0.7714383602142334,
-      -0.01694793626666069,
-      -0.013970811851322651
+      0.406638503074646,
+      0.9133250713348389,
+      0.02006508968770504,
+      -0.008933553472161293
    ],
    "normal": [
-      1.4901162970204496e-08,
-      0.9816272258758545,
-      -0.19080886244773865
+      0.0,
+      -0.7431448101997375,
+      -0.6691306233406067
    ]
  },
  {
@@ -2058,25 +2058,25 @@
    "id": 231,
    "link": "Ellbow",
    "position_m": [
-      0.3808724284172058,
-      0.10086208581924438,
-      0.34455493092536926
+      0.250872403383255,
+      -0.12076263129711151,
+      0.02348783239722252
    ],
    "position_mm": [
-      380.8724284172058,
-      100.86208581924438,
-      344.55493092536926
+      250.872403383255,
+      -120.76263129711151,
+      23.48783239722252
    ],
    "rotation_quaternion": [
-      0.9952542185783386,
-      -0.09583188593387604,
-      0.0016189995221793652,
-      0.016813986003398895
+      0.35831689834594727,
+      -0.9334472417831421,
+      0.01576980948448181,
+      0.006053464487195015
    ],
    "normal": [
-      2.3283064365386963e-10,
-      0.19080862402915955,
-      0.9816272854804993
+      -9.313224635931761e-10,
+      0.6691307425498962,
+      -0.7431447505950928
    ]
  },
  {
@@ -2084,25 +2084,25 @@
    "id": 120,
    "link": "Arm2",
    "position_m": [
-      0.36824238300323486,
-      0.015604853630065918,
-      0.2192991077899933
+      0.28105148673057556,
+      -0.15331996977329254,
+      0.1661108285188675
    ],
    "position_mm": [
-      368.24238300323486,
-      15.604853630065918,
-      219.2991077899933
+      281.05148673057556,
+      -153.31996977329254,
+      166.1108285188675
    ],
    "rotation_quaternion": [
-      0.1316612958908081,
-      0.01566902920603752,
-      -0.9487617015838623,
-      -0.28682923316955566
+      0.38425543904304504,
+      -0.37586739659309387,
+      0.5896310210227966,
+      -0.6028323173522949
    ],
    "normal": [
-      -0.2588190734386444,
-      0.5401391983032227,
-      -0.8007885813713074
+      0.9063077569007874,
+      -0.4220390319824219,
+      0.02211800031363964
    ]
  },
  {
@@ -2110,25 +2110,25 @@
    "id": 122,
    "link": "Arm2",
    "position_m": [
-      0.36427852511405945,
-      -0.018782399594783783,
-      0.27513453364372253
+      0.21583980321884155,
+      -0.14599870145320892,
+      0.1630089282989502
    ],
    "position_mm": [
-      364.27852511405945,
-      -18.782399594783783,
-      275.13453364372253
+      215.83980321884155,
+      -145.99870145320892,
+      163.0089282989502
    ],
    "rotation_quaternion": [
-      0.9228866100311279,
-      0.2849564850330353,
-      -0.24457331001758575,
-      -0.08522923290729523
+      0.40095359086990356,
+      -0.41019850969314575,
+      -0.5681437253952026,
+      0.5900730490684509
    ],
    "normal": [
-      -0.5000001192092896,
-      -0.4842754900455475,
-      0.7179673910140991
+      -0.9396926164627075,
+      -0.34155142307281494,
+      0.017899883911013603
    ]
  },
  {
@@ -2136,25 +2136,25 @@
    "id": 218,
    "link": "Arm2",
    "position_m": [
-      0.3992219567298889,
-      0.013277359306812286,
-      0.2222038060426712
+      0.2827777862548828,
+      -0.1221935898065567,
+      0.1647852659225464
    ],
    "position_mm": [
-      399.2219567298889,
-      13.277359306812286,
-      222.2038060426712
+      282.7777862548828,
+      -122.1935898065567,
+      164.7852659225464
    ],
    "rotation_quaternion": [
-      0.24081672728061676,
-      0.09732018411159515,
-      0.921690046787262,
-      0.28813815116882324
+      0.573472261428833,
+      -0.5847662091255188,
+      0.40865448117256165,
+      -0.4027152955532074
    ],
    "normal": [
-      0.5000000596046448,
-      0.4842754900455475,
-      -0.7179674506187439
+      0.9396926164627075,
+      0.34155160188674927,
+      -0.01789996027946472
    ]
  },
  {
@@ -2162,25 +2162,25 @@
    "id": 113,
    "link": "Arm2",
    "position_m": [
-      0.4066722095012665,
-      -0.06821094453334808,
-      0.22115299105644226
+      0.24005401134490967,
+      -0.10354935377836227,
+      0.23204615712165833
    ],
    "position_mm": [
-      406.6722095012665,
-      -68.21094453334808,
-      221.15299105644226
+      240.05401134490967,
+      -103.54935377836227,
+      232.04615712165833
    ],
    "rotation_quaternion": [
-      0.8264284133911133,
-      0.25874415040016174,
-      0.4751758873462677,
-      0.15580587089061737
+      0.6763865351676941,
+      -0.715695858001709,
+      -0.1112171933054924,
+      0.13383378088474274
    ],
    "normal": [
-      0.8660253286361694,
-      -0.27959659695625305,
-      0.41451871395111084
+      -0.342020183801651,
+      0.9384047985076904,
+      -0.049179576337337494
    ]
  },
  {
@@ -2188,25 +2188,25 @@
    "id": 114,
    "link": "Arm2",
    "position_m": [
-      0.36971721053123474,
-      -0.042641475796699524,
-      0.17953477799892426
+      0.28169676661491394,
+      -0.1482471227645874,
+      0.23646606504917145
    ],
    "position_mm": [
-      369.71721053123474,
-      -42.641475796699524,
-      179.53477799892426
+      281.69676661491394,
+      -148.2471227645874,
+      236.46606504917145
    ],
    "rotation_quaternion": [
-      0.12733641266822815,
-      0.029923686757683754,
-      -0.9484191536903381,
-      -0.2887752056121826
+      0.37515369057655334,
+      -0.3846849799156189,
+      0.5839164853096008,
+      -0.6085382103919983
    ],
    "normal": [
-      -0.25881901383399963,
-      0.5401391386985779,
-      -0.8007886409759521
+      0.9063078165054321,
+      -0.4220390319824219,
+      0.022118031978607178
    ]
  },
  {
@@ -2214,25 +2214,25 @@
    "id": 115,
    "link": "Arm2",
    "position_m": [
-      0.3466338813304901,
-      -0.06842178106307983,
-      0.21840748190879822
+      0.23175391554832458,
+      -0.16287928819656372,
+      0.23686790466308594
    ],
    "position_mm": [
-      346.6338813304901,
-      -68.42178106307983,
-      218.40748190879822
+      231.75391554832458,
+      -162.87928819656372,
+      236.86790466308594
    ],
    "rotation_quaternion": [
-      0.7549293041229248,
-      0.24369077384471893,
-      -0.5773469805717468,
-      -0.1933056265115738
+      0.16329166293144226,
+      -0.14336413145065308,
+      -0.6750782132148743,
+      0.7050191760063171
    ],
    "normal": [
-      -0.9659258127212524,
-      -0.14472974836826324,
-      0.2145705670118332
+      -0.42261815071105957,
+      -0.9050657153129578,
+      0.04743234068155289
    ]
  },
  {
@@ -2240,25 +2240,25 @@
    "id": 124,
    "link": "Arm2",
    "position_m": [
-      0.3654906451702118,
-      -0.10826586931943893,
-      0.21562126278877258
+      0.215361088514328,
+      -0.13906101882457733,
+      0.2702573835849762
    ],
    "position_mm": [
-      365.4906451702118,
-      -108.26586931943893,
-      215.62126278877258
+      215.361088514328,
+      -139.06101882457733,
+      270.2573835849762
    ],
    "rotation_quaternion": [
-      0.9223079681396484,
-      0.28655385971069336,
-      -0.24269969761371613,
-      -0.09127813577651978
+      0.4048137068748474,
+      -0.40646475553512573,
+      -0.5708208680152893,
+      0.5874315500259399
    ],
    "normal": [
-      -0.5,
-      -0.4842754900455475,
-      0.7179674506187439
+      -0.9396927356719971,
+      -0.34155136346817017,
+      0.0178998876363039
    ]
  },
  {
@@ -2266,25 +2266,25 @@
    "id": 219,
    "link": "Arm2",
    "position_m": [
-      0.39619529247283936,
-      -0.07564195990562439,
-      0.16011914610862732
+      0.2839730978012085,
+      -0.1197981908917427,
+      0.2732433080673218
    ],
    "position_mm": [
-      396.19529247283936,
-      -75.64195990562439,
-      160.11914610862732
+      283.9730978012085,
+      -119.7981908917427,
+      273.2433080673218
    ],
    "rotation_quaternion": [
-      0.2542372941970825,
-      0.053410522639751434,
-      0.9252735376358032,
-      0.27636873722076416
+      0.5536868572235107,
+      -0.6035252809524536,
+      0.3804040551185608,
+      -0.4295123219490051
    ],
    "normal": [
-      0.5,
-      0.4842754006385803,
-      -0.7179674506187439
+      0.9396926164627075,
+      0.34155160188674927,
+      -0.01790008135139942
    ]
  },
  {
@@ -2292,25 +2292,25 @@
    "id": 40,
    "link": "FingerA",
    "position_m": [
-      0.3914892375469208,
-      -0.16435910761356354,
-      0.12156370282173157
+      0.29232141375541687,
+      -0.1764823943376541,
+      0.3220147490501404
    ],
    "position_mm": [
-      391.4892375469208,
-      -164.35910761356354,
-      121.56370282173157
+      292.32141375541687,
+      -176.4823943376541,
+      322.0147490501404
    ],
    "rotation_quaternion": [
-      0.008576338179409504,
-      0.15523435175418854,
-      0.9162014722824097,
-      0.36932870745658875
+      0.09850682318210602,
+      0.15133115649223328,
+      -0.9372877478599548,
+      0.29813918471336365
    ],
    "normal": [
-      0.1303802877664566,
-      0.6740962862968445,
-      -0.7270455360412598
+      -0.09442298859357834,
+      -0.58869868516922,
+      -0.8028188943862915
    ]
  },
  {
@@ -2318,25 +2318,25 @@
    "id": 41,
    "link": "FingerA",
    "position_m": [
-      0.3646829128265381,
-      -0.16163456439971924,
-      0.16649426519870758
+      0.25828540325164795,
+      -0.1438424289226532,
+      0.3448388874530792
    ],
    "position_mm": [
-      364.6829128265381,
-      -161.63456439971924,
-      166.49426519870758
+      258.28540325164795,
+      -143.8424289226532,
+      344.8388874530792
    ],
    "rotation_quaternion": [
-      0.5453965067863464,
-      0.7783370018005371,
-      -0.2927109897136688,
-      -0.10514010488986969
+      0.9255684018135071,
+      0.3173528015613556,
+      0.02020304463803768,
+      0.20543166995048523
    ],
    "normal": [
-      -0.4829559326171875,
-      -0.7874532341957092,
-      -0.3829764127731323
+      0.16778723895549774,
+      -0.5791627764701843,
+      0.7977581024169922
    ]
  },
  {
@@ -2344,25 +2344,25 @@
    "id": 42,
    "link": "FingerA",
    "position_m": [
-      0.37728434801101685,
-      -0.1826891005039215,
-      0.1284797340631485
+      0.2898494303226471,
+      -0.176236093044281,
+      0.3460860550403595
    ],
    "position_mm": [
-      377.28434801101685,
-      -182.6891005039215,
-      128.4797340631485
+      289.8494303226471,
+      -176.236093044281,
+      346.0860550403595
    ],
    "rotation_quaternion": [
-      0.7579701542854309,
-      0.6138009428977966,
-      0.13565897941589355,
-      0.17414429783821106
+      0.8531429767608643,
+      -0.04194018244743347,
+      0.46606194972991943,
+      0.2305956482887268
    ],
    "normal": [
-      0.41943085193634033,
-      -0.8832372426986694,
-      0.20969006419181824
+      0.7758925557136536,
+      0.28650566935539246,
+      0.5620545744895935
    ]
  },
  {
@@ -2370,25 +2370,25 @@
    "id": 43,
    "link": "FingerB",
    "position_m": [
-      0.3319685161113739,
-      -0.14969775080680847,
-      0.13828310370445251
+      0.2457762509584427,
+      -0.17510268092155457,
+      0.34634095430374146
    ],
    "position_mm": [
-      331.9685161113739,
-      -149.69775080680847,
-      138.28310370445251
+      245.7762509584427,
+      -175.10268092155457,
+      346.34095430374146
    ],
    "rotation_quaternion": [
-      0.780128538608551,
-      0.26638153195381165,
-      -0.25596511363983154,
-      0.5048983097076416
+      0.5884477496147156,
+      -0.1531301736831665,
+      0.27411988377571106,
+      0.7450762987136841
    ],
    "normal": [
-      -0.13038019835948944,
-      -0.6740962862968445,
-      0.7270455956459045
+      0.09442314505577087,
+      0.58869868516922,
+      0.8028188943862915
    ]
  },
  {
@@ -2396,25 +2396,25 @@
    "id": 44,
    "link": "FingerB",
    "position_m": [
-      0.3708168864250183,
-      -0.11914579570293427,
-      0.12279202044010162
+      0.26277849078178406,
+      -0.17385278642177582,
+      0.2974333167076111
    ],
    "position_mm": [
-      370.8168864250183,
-      -119.14579570293427,
-      122.79202044010162
+      262.77849078178406,
+      -173.85278642177582,
+      297.4333167076111
    ],
    "rotation_quaternion": [
-      0.1570289433002472,
-      0.40392592549324036,
-      -0.8814878463745117,
-      0.18752315640449524
+      0.3767874836921692,
+      0.4944274127483368,
+      -0.3825819492340088,
+      0.6835229992866516
    ],
    "normal": [
-      -0.1253472864627838,
-      -0.4574548900127411,
-      -0.8803539276123047
+      0.3876008689403534,
+      -0.8955954313278198,
+      0.21834509074687958
    ]
  },
  {
@@ -2422,25 +2422,25 @@
    "id": 45,
    "link": "FingerB",
    "position_m": [
-      0.33433204889297485,
-      -0.14838381111621857,
-      0.11471820622682571
+      0.2529226243495941,
+      -0.19617487490177155,
+      0.3381246030330658
    ],
    "position_mm": [
-      334.33204889297485,
-      -148.38381111621857,
-      114.71820622682571
+      252.92262434959412,
+      -196.17487490177155,
+      338.1246030330658
    ],
    "rotation_quaternion": [
-      0.17051881551742554,
-      0.4431733191013336,
-      -0.785284698009491,
-      -0.3973018229007721
+      0.5877432227134705,
+      0.43223538994789124,
+      -0.65323805809021,
+      0.2025107741355896
    ],
    "normal": [
-      -0.619958758354187,
-      0.4728512763977051,
-      -0.6261492371559143
+      -0.5928078293800354,
+      -0.7726622223854065,
+      -0.22709466516971588
    ]
  }
 ]
--- a/data/simulation/debug/render.npz
+++ b/data/simulation/debug/render.npz
--- a/data/simulation/debug/render.png
+++ b/data/simulation/debug/render.png