diff --git a/data/robot/robot.json b/data/robot/robot.json
new file mode 100644
index 0000000..c437647
--- /dev/null
+++ b/data/robot/robot.json
@@ -0,0 +1,518 @@
+{
+  "coordinateSystem": {
+    "handedness": "right",
+    "x": "right",
+    "y": "backward",
+    "z": "up"
+  },
+  "units": {
+    "length": "mm",
+    "rotation": "degree"
+  },
+  "vision_config": {
+    "MarkerType": "DICT_4X4_250",
+    "MarkerSize": 0.025
+  },
+  "renderingInfo": {
+    "width": 1280,
+    "height": 720,
+    "cameraPosition__1": [-10, -800, 500],
+    "cameraPosition__2": [-500, 300, 1200],
+    "cameraPosition__3": [-200, -900, 200],
+    "cameraPosition__4": [1200, 200, 300],
+    "cameraPosition_a":[-300, -800,500],
+    "cameraPosition":[300, -700,500],
+    "cameraPosition_c":[600, -500,600],
+    "cameraTarget": [210, -180, 180],
+    "cameraUpVector": [0, 0, 1],
+    "lightPosition": [-500, -500, 500],
+    "lightTarget": [0, 0, 0],
+    "lightUpVector": [0, 0, 1],
+    "metric": "mm",
+    "showSkeleton": true,
+    "showMarkers": true,
+    "backgroundColor": [0.70, 0.85, 1.0],
+    "backgroundStrength": 0.20,
+    "sunEnergy": 0.35,
+    "areaEnergy": 120,
+    "exposure": -1.5,
+    "materials": {
+      "wood": {
+        "baseColor": [0.72, 0.52, 0.33],
+        "roughness": 0.85,
+        "metallic": 0.0
+      },
+      "plaWhite": {
+        "baseColor": [0.95, 0.95, 0.95],
+        "roughness": 0.45,
+        "metallic": 0.0
+      },
+      "steel": {
+        "baseColor": [0.72, 0.72, 0.75],
+        "roughness": 0.25,
+        "metallic": 1.0
+      },
+      "powderCoatBlue": {
+        "baseColor": [0.15, 0.25, 0.7],
+        "roughness": 0.55,
+        "metallic": 0.0
+      },
+      "defaultPlastic": {
+        "baseColor": [0.95, 0.95, 0.95],
+        "roughness": 0.4,
+        "metallic": 0.0
+      },
+      "skeletonRed": {
+        "baseColor": [0.85, 0.20, 0.20],
+        "roughness": 0.35,
+        "metallic": 0.0
+      },
+      "markerBlack": {
+        "baseColor": [0.04, 0.04, 0.04],
+        "roughness": 0.80,
+        "metallic": 0.0
+      }
+    },
+    "skeletonDefaults": {
+      "radius": 4,
+      "color": [0.85, 0.20, 0.20]
+    },
+    "markerDefaults": {
+      "size": 25,
+      "thickness": 1,
+      "color": [0.04, 0.04, 0.04]
+    }
+  },
+  "defaultPosition__": {
+    "x": 10,
+    "y": 4,
+    "z": 20,
+    "a": 10,
+    "b": 2,
+    "c": 9,
+    "e": 1
+  },
+  "defaultPosition": {
+    "x": 140,
+    "y": 46,
+    "z": -70,
+    "a": 120,
+    "b": 22,
+    "c": 91,
+    "e": 10
+  },
+  "recognized": {
+    "x": null,
+    "y": null,
+    "z": null,
+    "a": null,
+    "b": null,
+    "c": null,
+    "e": null
+  },
+  "constraint_rules": {
+
+    "rigid_distance": {
+      "enabled": true,
+      "mode": "mst",
+      "weight": 1.0
+    },
+
+    "joint_axis_projection": {
+      "enabled": true,
+      "max_pairs": 2,
+      "weight": 0.35
+    },
+
+    "chain_axis_projection": {
+      "enabled": false,
+      "max_depth": 3,
+      "max_pairs": 2,
+      "weight": 0.15
+    },
+
+    "axis_alignment_threshold": 0.95
+  },
+  "observation_weighting": {
+      "enabled": true,
+      "distance_weight": true,
+      "marker_size_weight": true,
+      "view_angle_weight": true
+  },
+  "multiview_calculation": {
+    "combine_mode": "mean",
+    "size_ref_px": 50.0,
+    "border_ref_px": 120.0,
+    "center_ref_norm": 0.01,
+    "sharpness_ref": 2500.0,
+    "homography_ref": 0.18,
+    "size_factor": 0.3,
+    "aspect_factor": 0.3,
+    "border_factor": 0.01,
+    "center_factor": 0.01,
+    "sharpness_factor": 0.5,
+    "homography_factor": 0.2,
+    "normal_visibility_factor": 0.01,
+    "spin_factor": 0.3,
+    "weight_floor": 0.3
+  },
+  "movements": {
+    "x": null,
+    "y": null,
+    "z": null,
+    "a": null,
+    "b": null,
+    "c": null,
+    "e": null
+  },
+  "state_pose_params":{ 
+    "numbers_of_Elements_to_consider_start": 3,
+    "numbers_of_Elements_to_consider_final": 5,
+    "solver_in_between_geometrical": false,
+    "solver_after_geometrical": false,
+    "geometric_passes_per_stage": 2,
+    "revolute_search_coarse_deg": 5.0,
+    "revolute_search_fine_deg": 1.0,
+    "root_pose_min_markers": 3,
+    "use_marker_normals_flip_tiebreak": true,
+    "normal_flip_weight": 0.05
+  },
+  "links": {
+    "Board": {
+      "parent": null,
+      "size": [1000, 200, 25],
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "skeleton": {
+        "from": [0, 0, 16],
+        "to": [1000, 0, 16],
+        "radius": 4,
+        "color": [0.85, 0.20, 0.20]
+      },
+      "markers":[         
+        {"id":210,"position":[20,  -20, 0.3], "normal":[0,0,1]},
+        {"id":211,"position":[250, -10, 0.3], "normal":[0,0,1]},
+        {"id":215,"position":[250, -90, 0.3], "normal":[0,0,1]},
+        {"id":214,"position":[350, -10, 0.3], "normal":[0,0,1]},        
+        {"id":208,"position":[350, -90, 0.3], "normal":[0,0,1]},
+        {"id":206,"position":[650, -10, 0.3], "normal":[0,0,1]},
+        {"id":205,"position":[750, -90, 0.3], "normal":[0,0,1]},
+        {"id":207,"position":[750, -10, 0.3], "normal":[0,0,1]},
+        {"id":217,"position":[650, -90, 0.3], "normal":[0,0,1]}
+      ],
+      "model": [
+        {
+          "stlFile": "surfaces/Board.stl",
+          "originOfModel": [0, 0, 0],
+          "rotationOfModelDegree": [0, 0, -90],
+          "material": "wood"
+        },
+        {
+          "stlFile": "surfaces/BoardRail.stl",
+          "originOfModel": [0, 0, 0],
+          "rotationOfModelDegree": [0, 0, -90],
+          "material": "steel"
+        }
+      ]
+    },
+    "Base": {
+      "parent": "Board",
+      "size": [150, 200, 150],
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "jointToParent": {
+        "name": "Slider",
+        "type": "linear",
+        "axis": [1, 0, 0],
+        "origin": [0, 0, 16],
+        "rotation": [0, 0, 0],
+        "variable": "x"
+      },
+      "skeleton": {
+        "from": [0, 108, 45],
+        "to": [110, 108, 45],
+        "radius": 4,
+        "color": [0.20, 0.80, 0.20]
+      },
+      "markers": [
+      ],
+      "model": [
+        {
+          "stlFile": "surfaces/Base.stl",
+          "originOfModel": [-30, 0, -35],
+          "rotationOfModelDegree": [0, 0, 0],
+          "material": "plaWhite"
+        }
+      ]
+    },
+    "Arm1": {
+      "parent": "Base",
+      "size": [70, 250, 70],
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "jointToParent": {
+        "name": "Joint1",
+        "type": "revolute",
+        "axis": [-1, 0, 0],
+        "origin": [110, 108, 45],
+        "rotation": [0, 0, 0],
+        "variable": "y"
+      },
+      "skeleton": {
+        "from": [0, 0, 0],
+        "to": [0, -250, 0],
+        "radius": 4,
+        "color": [0.20, 0.20, 0.90]
+      },
+      "markers": [
+        {
+          "id": 198,
+          "name": "aruco_198",
+          "position": [0, -160, 35],
+          "normal": [0, 0, 1],
+          "size": 25,
+          "spin": 0
+        },
+        {
+          "id": 229,
+          "name": "aruco_229",
+          "position": [0, -250, 35],
+          "normal": [0, 0, 1],
+          "size": 25,
+          "spin": 0
+        },
+        {
+          "id": 242,
+          "name": "aruco_242",
+          "position": [0, -250, -35],
+          "normal": [0, 0, -1],
+          "size": 25,
+          "spin": 0
+        },
+        {
+          "id": 243,
+          "name": "aruco_243",
+          "position": [0, -285, 0],
+          "normal": [0, -1, 0],
+          "size": 25,
+          "spin": 0
+        }
+      ],
+      "model": [
+        {
+          "stlFile": "surfaces/Holm.stl",
+          "originOfModel__": [-25,29,-28.5],
+          "originOfModel": [-29,25,28.5],
+          "rotationOfModelDegree__": [0, 0, 0],
+          "rotationOfModelDegree": [180, 0, -90],
+          "material": "powderCoatBlue"
+        }
+      ]
+    },
+    "Ellbow": {
+      "parent": "Arm1",
+
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+
+      "jointToParent": {
+        "name": "Joint2",
+        "type": "revolute",
+        "axis": [-1, 0, 0],
+        "origin": [0, -250, 0],
+        "rotation": [0, 0, 0],
+        "variable": "z"
+      },
+
+      "skeleton": {
+        "from": [0, 0, 0],
+        "to": [90, 0, 0],
+        "radius": 4,
+        "color": [0.90, 0.20, 0.20]
+      }, 
+      "model": [
+        {
+          "stlFile": "surfaces/Ellebogen.stl",
+          "originOfModel": [90,0,0],
+          "rotationOfModelDegree": [0,-90,-90],
+          "material": "defaultPlastic"
+        }
+      ],
+      "markers": [
+        {
+          "id": 244,
+          "name": "aruco_244",
+          "position": [125, 0, 0],
+          "normal": [1, 0, 0],
+          "size": 25,
+          "spin": 0
+        },
+        {
+          "id": 245,
+          "name": "aruco_245",
+          "position": [90, 0, -35],
+          "normal": [0, 0, -1],
+          "size": 25,
+          "spin": 0
+        },
+        {
+          "id": 246,
+          "name": "aruco_246",
+          "position": [90, 0, 35],
+          "normal": [0, 0, 1],
+          "size": 25
+        },
+        {
+          "id": 247,
+          "name": "aruco_247",
+          "position": [52.5, 0, 35],
+          "normal": [0, 0, 1],
+          "size": 25
+        }
+      ]
+
+    },
+    "Arm2": {
+      "parent": "Ellbow",
+
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+
+      "jointToParent": {
+        "name": "Joint3",
+        "type": "revolute",
+        "axis": [0, -1, 0],
+        "origin": [90, 0, 0],
+        "rotation": [0, 0, 0],
+        "variable": "a"
+      },
+
+      "skeleton": {
+        "from": [0, 0, 0],
+        "to": [0, -250, 0],
+        "radius": 4,
+        "color": [0.95, 0.85, 0.20]
+      },
+      "model": [
+        {
+          "stlFile": "surfaces/Unterarm.stl",
+          "originOfModel": [0,-250,0],
+          "rotationOfModelDegree": [180, 0, -90],
+          "material": "defaultPlastic"
+        }
+      ], 
+      "markers":[
+                     
+        {"id":120,                      "position":[24.75, -112, -24.75],"normal":[1,0,-1]},
+        {"id":122, "name": "aruco_122", "position":[-35,-112,0], "normal":[-1,0,0]},
+        {"id":218, "name": "aruco_218", "position":[35,-112,0], "normal":[1,0,0]},
+        {"id":113, "name": "aruco_113", "position":[0, -182, 30],"normal":[0,0,1]},
+        {"id":101, "name": "aruco_101", "position":[ 24.75, -182, -24.75],"normal":[ 1,0,-1]},
+        {"id":102, "name": "aruco_102", "position":[-24.75, -182, -24.75],"normal":[-1,0,-1]},
+        {"id":124, "name": "aruco_124", "position":[-35,-219,0], "normal":[-1,0,0]},
+        {"id":219, "name": "aruco_219", "position":[35,-219,0], "normal":[1,0,0]}
+
+      ]
+    },
+    "Hand": {
+      "parent": "Arm2",
+
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+
+      "jointToParent": {
+        "name": "Joint4",
+        "type": "revolute",
+        "axis": [1, 0, 0],
+        "origin": [0, -250, 0],
+        "rotation": [0, 0, 0],
+        "variable": "b"
+      },
+
+      "skeleton": {
+        "from": [0, 0, 0],
+        "to": [0, -35, 0],
+        "radius": 4,
+        "color": [0.95, 0.55, 0.15]
+      }
+    },
+    "Palm": {
+      "parent": "Hand",
+
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+
+      "jointToParent": {
+        "name": "Joint3",
+        "type": "revolute",
+        "axis": [0, -1, 0],
+        "origin": [0, 0, 0],
+        "rotation": [0, 0, 0],
+        "variable": "c"
+      },
+
+      "skeleton": {
+        "from": [-50, -35, 0],
+        "to": [50, -35, 0],
+        "radius": 7,
+        "color": [0.95, 0.20, 0.20]
+      }
+    },
+    "FingerA": {
+      "parent": "Palm",
+      "size": [80, 60, 20],
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "jointToParent": {
+        "name": "Slider",
+        "type": "linear",
+        "axis": [1, 0, 0],
+        "origin": [4, -35,0],
+        "rotation": [0, 0, 0],
+        "variable": "e"
+      },
+      "skeleton": {
+        "from": [0, 0,0],
+        "to": [0, -60, 0],
+        "radius": 4,
+        "color": [0.20, 0.80, 0.20]
+      },
+      "model": [
+        {
+          "stlFile": "surfaces/Finger.stl",
+          "originOfModel": [24,0,-9.1],
+          "rotationOfModelDegree": [90, -90,0],
+          "material": "defaultPlastic"
+        }
+      ]
+    },
+    "FingerB": {
+      "parent": "Palm",
+      "size": [80, 60, 20],
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "jointToParent": {
+        "name": "Slider",
+        "type": "linear",
+        "axis": [-1, 0, 0],
+        "origin": [-4, -35,0],
+        "rotation": [0, 0, 0],
+        "variable": "e"
+      },
+      "skeleton": {
+        "from": [0, 0,0],
+        "to": [0, -60, 0],
+        "radius": 4,
+        "color": [0.20, 0.80, 0.20]
+      },
+      "model": [
+        {
+          "stlFile": "surfaces/Finger.stl",
+          "originOfModel": [-24,0,9.1],
+          "rotationOfModelDegree": [90, 90,0],
+          "material": "defaultPlastic"
+        }
+      ]
+    }
+  }
+}
\ No newline at end of file