{ "schema_version": "1.0", "method": "deterministic_geometric_sequential_prefix", "created_utc": "2026-06-01T21:51:00Z", "root_pose": { "translation_m": [ -1.486556048985177e-05, 1.1322752251075041e-06, -2.0605905768973642e-05 ], "rotation_matrix": [ [ 0.999999986669724, -8.711350486821122e-06, -0.00016304804256892164 ], [ 8.683750472596357e-06, 0.9999999856352333, -0.00016927529455879422 ], [ 0.000163049514843191, 0.0001692738764337872, 0.9999999723806051 ] ], "euler_xyz_deg": [ 0.009698678876712484, -0.009342049093563802, 0.0004975422590443747 ] }, "movements": { "x": { "value_m": 0.07191726767703309, "value_mm": 71.9172676770331, "joint_type": "linear", "link": "Base" }, "y": { "value_rad": 2.2819525158203575, "value_deg": 130.7462482057667, "joint_type": "revolute", "link": "Arm1" }, "z": { "value_rad": -0.8522010987378934, "value_deg": -48.82752625409284, "joint_type": "revolute", "link": "Ellbow" }, "a": { "value_rad": -0.9213157425842446, "value_deg": -52.78750364903859, "joint_type": "revolute", "link": "Arm2" }, "b": { "value_rad": 0.0, "value_deg": 0.0, "joint_type": "revolute", "link": "Hand" }, "c": { "value_rad": 0.0, "value_deg": 0.0, "joint_type": "revolute", "link": "Palm" }, "e": { "value_m": 0.0, "value_mm": 0.0, "joint_type": "linear", "link": "FingerB" } }, "link_poses": { "Board": { "translation_m": [ -1.486556048985177e-05, 1.1322752251075041e-06, -2.0605905768973642e-05 ], "rotation_matrix": [ [ 0.999999986669724, -8.711350486821122e-06, -0.00016304804256892164 ], [ 8.683750472596357e-06, 0.9999999856352333, -0.00016927529455879422 ], [ 0.000163049514843191, 0.0001692738764337872, 0.9999999723806051 ] ] }, "Base": { "translation_m": [ 0.07189979238911319, -9.516178806555531e-07, 0.015991119727924285 ], "rotation_matrix": [ [ 0.999999986669724, -8.711350486821122e-06, -0.00016304804256892164 ], [ 8.683750472596357e-06, 0.9999999856352333, -0.00016927529455879422 ], [ 0.000163049514843191, 0.0001692738764337872, 0.9999999723806051 ] ] }, "Arm1": { "translation_m": [ 0.18189151293501465, 0.10799238465502137, 0.06102733551033912 ], "rotation_matrix": [ [ 0.9999999866664188, 0.00012921244363419898, 9.982332504434757e-05 ], [ 8.683750472567655e-06, -0.652581891180625, 0.7577182030455406 ], [ 0.00016304951484265206, -0.7577181920781073, -0.6525818836035773 ] ] }, "Ellbow": { "translation_m": [ 0.1818592098241061, 0.2711378574501776, 0.25045688352986595 ], "rotation_matrix": [ [ 0.9999999866657354, 0.0001602042959096732, -3.154576651289637e-05 ], [ 8.68375047256172e-06, 0.14074531689909162, 0.9900458351476893 ], [ 0.00016304951484254063, -0.990045822224041, 0.14074531363174358 ] ] }, "Arm2": { "translation_m": [ 0.2718592086240223, 0.2711386389877201, 0.2504715579862018 ], "rotation_matrix": [ [ 0.6047979405448154, 0.00016020429590954657, 0.7963789458782092 ], [ -0.7884653054999639, 0.14074531689898037, 0.5987597329399318 ], [ -0.11199068322840566, -0.9900458222232584, 0.08524879333135413 ] ] }, "Hand": { "translation_m": [ 0.27181915755004493, 0.23595230976297502, 0.4979830135420164 ], "rotation_matrix": [ [ 0.6047979405448154, 0.00016020429590954657, 0.7963789458782092 ], [ -0.7884653054999639, 0.14074531689898037, 0.5987597329399318 ], [ -0.11199068322840566, -0.9900458222232584, 0.08524879333135413 ] ] }, "Palm": { "translation_m": [ 0.27181915755004493, 0.23595230976297502, 0.4979830135420164 ], "rotation_matrix": [ [ 0.6047979405448154, 0.00016020429590954657, 0.7963789458782092 ], [ -0.7884653054999639, 0.14074531689898037, 0.5987597329399318 ], [ -0.11199068322840566, -0.9900458222232584, 0.08524879333135413 ] ] }, "FingerA": { "translation_m": [ 0.2742327421618674, 0.22787236244951084, 0.5321866545869168 ], "rotation_matrix": [ [ 0.6047979405448154, 0.00016020429590954657, 0.7963789458782092 ], [ -0.7884653054999639, 0.14074531689898037, 0.5987597329399318 ], [ -0.11199068322840566, -0.9900458222232584, 0.08524879333135413 ] ] }, "FingerB": { "translation_m": [ 0.2693943586375088, 0.23418008489351055, 0.5330825800527441 ], "rotation_matrix": [ [ 0.6047979405448154, 0.00016020429590954657, 0.7963789458782092 ], [ -0.7884653054999639, 0.14074531689898037, 0.5987597329399318 ], [ -0.11199068322840566, -0.9900458222232584, 0.08524879333135413 ] ] } }, "stage_reports": [ { "method": "deterministic_geometric_prefix", "active_links": [ "Board", "Base", "Arm1" ], "active_observations": 47, "joint_updates": [ { "pass": 0, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.0, "new": 0.07000582151654561, "info": { "reason": "weighted_projection", "used_markers": 2, "axis_world": [ 0.999999986668724, 8.683750472587675e-06, 0.00016304951484302795 ], "per_marker": [ { "marker_id": 242, "q_i": 0.06979949904812231, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.0702121439849689, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 0.0, "new": 2.270375453015472, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 2, "axis_world": [ -0.999999986668724, -8.683750472587675e-06, -0.00016304951484302795 ], "axis_id": 0, "theta_rad": -0.8712172005743216, "theta_alt_rad": 2.270375453015472, "score_theta": 0.357351862231534, "score_theta_alt": 0.32266394851388286, "best_score": 0.32266394851388286, "per_marker": [ { "marker_id": 242, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 } ] } } ] }, { "pass": 1, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.07000582151654561, "new": 0.07000582151654536, "info": { "reason": "weighted_projection", "used_markers": 2, "axis_world": [ 0.999999986668724, 8.683750472587675e-06, 0.00016304951484302795 ], "per_marker": [ { "marker_id": 242, "q_i": 0.06979949904812209, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.07021214398496864, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 2.270375453015472, "new": 2.270375453015472, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 2, "axis_world": [ -0.999999986668724, -8.683750472587675e-06, -0.00016304951484302795 ], "axis_id": 0, "theta_rad": -0.8712172005743216, "theta_alt_rad": 2.270375453015472, "score_theta": 0.357351862231534, "score_theta_alt": 0.32266394851388286, "best_score": 0.32266394851388286, "per_marker": [ { "marker_id": 242, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 } ] } } ] } ], "root_link": "Board", "root_pose": { "reason": "kabsch", "used_markers": [ 210, 211, 215, 214, 208, 206, 205, 217, 46, 47, 48, 51, 52, 53, 54, 55, 56, 57, 58, 59, 61, 62, 63, 64, 66, 68, 69, 71, 72, 73, 75, 76, 79, 82, 83, 84, 85, 86, 92, 95, 96, 97, 102, 103, 105 ] }, "marker_stats": { "num_markers_used": 47, "mean_error_m": 0.014961396558829375, "rms_error_m": 0.07153035641342727, "median_error_m": 0.00020220438107972284, "worst_error_m": 0.3667811059106821 }, "marker_reports": [ { "marker_id": 46, "link": "Board", "error_m": [ 9.842109278201949e-05, 0.00028088368817874576, -0.0004318691867546756 ], "error_norm_m": 0.0005244934244177391, "predicted_m": [ 0.5366979630637456, 0.18545041148268035, -0.027201704699002124 ], "observed_m": [ 0.5365995419709636, 0.1851695277945016, -0.026769835512247448 ] }, { "marker_id": 47, "link": "Board", "error_m": [ 9.133192655708111e-05, -4.97532984700122e-05, 5.921974964948756e-05 ], "error_norm_m": 0.0001196824559650334, "predicted_m": [ 0.34422207721275994, -0.286531253185728, -0.02731298235381836 ], "observed_m": [ 0.34413074528620285, -0.28648149988725796, -0.027372202103467847 ] }, { "marker_id": 48, "link": "Board", "error_m": [ -7.795144429934009e-05, -5.325037499320784e-05, -1.8547821481522397e-05 ], "error_norm_m": 9.620837690648772e-05, "predicted_m": [ 0.6886823703749727, -0.3207082614900525, -0.027262604099031983 ], "observed_m": [ 0.688760321819272, -0.3206550111150593, -0.02724405627755046 ] }, { "marker_id": 51, "link": "Board", "error_m": [ 0.00019570836583213125, 9.042519269070182e-05, -9.198984621965056e-05 ], "error_norm_m": 0.00023439413759168302, "predicted_m": [ 0.16779108246344376, -0.1720727869040151, -0.027322374091825533 ], "observed_m": [ 0.16759537409761163, -0.1721632120967058, -0.027230384245605883 ] }, { "marker_id": 52, "link": "Board", "error_m": [ -7.495509450958227e-05, -0.0002506946362413609, 9.326230617761819e-05 ], "error_norm_m": 0.0002777839530763008, "predicted_m": [ 0.09466776667856919, 0.2086665726709091, -0.02726984693663747 ], "observed_m": [ 0.09474272177307877, 0.20891726730715046, -0.027363109242815088 ] }, { "marker_id": 53, "link": "Board", "error_m": [ -1.8096638906284213e-05, 0.00016102836503550932, 7.50494941935409e-07 ], "error_norm_m": 0.0001620437778144275, "predicted_m": [ 0.48623773027219824, 0.21224997291565578, -0.027205395637632687 ], "observed_m": [ 0.4862558269111045, 0.21208894455062027, -0.027206146132574622 ] }, { "marker_id": 54, "link": "Board", "error_m": [ -0.0001791947677103889, 0.00011230556435071204, -0.00013453071315852258 ], "error_norm_m": 0.00025064280827873927, "predicted_m": [ 0.34226246097387614, -0.330581269573111, -0.02732075844512436 ], "observed_m": [ 0.3424416557415865, -0.3306935751374617, -0.02718622773196584 ] }, { "marker_id": 55, "link": "Board", "error_m": [ -2.880809897204406e-05, -5.1771921821430755e-05, 0.00012157579195993043 ], "error_norm_m": 0.00013524389689058692, "predicted_m": [ 0.28371186929541725, -0.2625717789836489, -0.02731879267788217 ], "observed_m": [ 0.2837406773943893, -0.2625200070618275, -0.0274403684698421 ] }, { "marker_id": 56, "link": "Board", "error_m": [ 0.00012304752698361066, 0.00015214290254239593, -0.00010903490387577028 ], "error_norm_m": 0.00022400171194436404, "predicted_m": [ 0.49866810966004366, 0.168680081480547, -0.027210744194959405 ], "observed_m": [ 0.49854506213306005, 0.1685279385780046, -0.027101709291083634 ] }, { "marker_id": 57, "link": "Board", "error_m": [ -0.00021238179990767936, 6.237638045353266e-05, -7.243158480250977e-05 ], "error_norm_m": 0.000232901645008172, "predicted_m": [ 0.6028527489819269, -0.3640390061939302, -0.027283933275956847 ], "observed_m": [ 0.6030651307818345, -0.36410138257438374, -0.027211501691154338 ] }, { "marker_id": 58, "link": "Board", "error_m": [ 5.834501212421961e-05, 0.0001676518494652668, -0.00018470750241864065 ], "error_norm_m": 0.0002561799065473948, "predicted_m": [ 0.05008148501601344, -0.21810380840707302, -0.02734935832674997 ], "observed_m": [ 0.05002314000388922, -0.2182714602565383, -0.02716465082433133 ] }, { "marker_id": 59, "link": "Board", "error_m": [ 7.018605692199475e-05, -1.9936252498853335e-05, 5.385413452158039e-05 ], "error_norm_m": 9.068519479509321e-05, "predicted_m": [ 0.6262020055924684, -0.27873880465367123, -0.02726568700812546 ], "observed_m": [ 0.6261318195355464, -0.2787188684011724, -0.02731954114264704 ] }, { "marker_id": 61, "link": "Board", "error_m": [ 7.734952797596589e-05, 7.851424995392042e-05, 8.135259861158026e-05 ], "error_norm_m": 0.00013698789079618793, "predicted_m": [ -0.022433339582896925, 0.3358355539769614, -0.02726741347595952 ], "observed_m": [ -0.02251068911087289, 0.3357570397270075, -0.0273487660745711 ] }, { "marker_id": 62, "link": "Board", "error_m": [ 0.0002934154331606931, 0.00022355980683669285, 3.391001305252245e-05 ], "error_norm_m": 0.00037043419474308635, "predicted_m": [ 0.4046911056137798, -0.17509072968014652, -0.027284258868866013 ], "observed_m": [ 0.4043976901806191, -0.17531428948698322, -0.027318168881918535 ] }, { "marker_id": 63, "link": "Board", "error_m": [ 4.725801655502959e-05, 8.649128375748383e-05, 0.00016914152514853342 ], "error_norm_m": 0.00019576240145723848, "predicted_m": [ 0.7773916324735332, -0.2361374923693764, -0.027233824484840234 ], "observed_m": [ 0.7773443744569781, -0.23622398365313388, -0.027402966009988768 ] }, { "marker_id": 64, "link": "Board", "error_m": [ 0.00014518099878982685, -0.00019503643868928888, -6.120716228158463e-07 ], "error_norm_m": 0.00024314010252914658, "predicted_m": [ -0.021278774327890618, -0.18822442850872592, -0.02735593563670134 ], "observed_m": [ -0.021423955326680445, -0.18802939207003663, -0.027355323565078523 ] }, { "marker_id": 66, "link": "Board", "error_m": [ -0.0001186664765544243, 0.00016218551757885002, -0.00016026341372418415 ], "error_norm_m": 0.00025704131292204804, "predicted_m": [ 0.20974274707888424, -0.3632224198748577, -0.02734789086615818 ], "observed_m": [ 0.20986141355543866, -0.36338460539243655, -0.027187627452433995 ] }, { "marker_id": 68, "link": "Board", "error_m": [ -0.00016958161888946943, -0.0002235718707464529, 0.00033998192408219927 ], "error_norm_m": 0.0004408287825867048, "predicted_m": [ 0.573718091498246, 0.1706507331677214, -0.02719817385933385 ], "observed_m": [ 0.5738876731171355, 0.17087430503846784, -0.02753815578341605 ] }, { "marker_id": 69, "link": "Board", "error_m": [ 0.00018059010402864638, 3.0791777882788196e-05, -7.836541172552905e-05 ], "error_norm_m": 0.00019925375031143571, "predicted_m": [ 0.007602035268499278, -0.28120417638637624, -0.027366965851743485 ], "observed_m": [ 0.007421445164470632, -0.281234968164259, -0.027288600440017956 ] }, { "marker_id": 71, "link": "Board", "error_m": [ -0.0001690308924547912, -3.907719659373976e-05, 2.0166391535479666e-05 ], "error_norm_m": 0.0001746572450408263, "predicted_m": [ 0.7497420497673496, -0.28399773178757926, -0.027246434251651772 ], "observed_m": [ 0.7499110806598044, -0.2839586545909855, -0.027266600643187252 ] }, { "marker_id": 72, "link": "Board", "error_m": [ 4.104467268839507e-05, -5.8445265070899977e-05, -2.7946864180079106e-05 ], "error_norm_m": 7.669120798895421e-05, "predicted_m": [ 0.4409778869829273, 0.194329580146526, -0.027215808646540184 ], "observed_m": [ 0.4409368423102389, 0.1943880254115969, -0.027187861782360104 ] }, { "marker_id": 73, "link": "Board", "error_m": [ -9.757090487746978e-05, 9.403203218910638e-05, -0.00015601605639981378 ], "error_norm_m": 0.00020664731890535445, "predicted_m": [ 0.22171668085738952, 0.3331176741537114, -0.027228065361854455 ], "observed_m": [ 0.221814251762267, 0.3330236421215223, -0.02707204930545464 ] }, { "marker_id": 75, "link": "Board", "error_m": [ 3.069506615535275e-05, 2.64472195354859e-06, -8.067143223433951e-05 ], "error_norm_m": 8.635427968104821e-05, "predicted_m": [ -0.025712109060917355, 0.19458552752328312, -0.027291858213414476 ], "observed_m": [ -0.025742804127072708, 0.19458288280132957, -0.027211186781180136 ] }, { "marker_id": 76, "link": "Board", "error_m": [ 0.0005151466298424223, 0.0005536495209004233, -0.0005481980317417444 ], "error_norm_m": 0.0009340368966142594, "predicted_m": [ 0.6851981234637727, 0.16681170128738482, -0.027180647111104635 ], "observed_m": [ 0.6846829768339303, 0.1662580517664844, -0.02663244907936289 ] }, { "marker_id": 79, "link": "Board", "error_m": [ -3.924505815539048e-05, 0.00014105953314505482, 0.00012972599277028332 ], "error_norm_m": 0.00019561901666493572, "predicted_m": [ 0.31229096755100305, -0.15910153228838284, -0.027296617954753345 ], "observed_m": [ 0.31233021260915844, -0.1592425918215279, -0.027426343947523628 ] }, { "marker_id": 82, "link": "Board", "error_m": [ 0.00012571552755333282, 0.0003193318097063913, -2.36640459273553e-05 ], "error_norm_m": 0.0003440017232922295, "predicted_m": [ 0.21914699336779028, 0.29724765235173695, -0.02723455625305528 ], "observed_m": [ 0.21902127784023695, 0.29692832054203055, -0.027210892207127926 ] }, { "marker_id": 83, "link": "Board", "error_m": [ -0.00013202442361058553, -0.00010640300333453201, 1.751434660392237e-06 ], "error_norm_m": 0.0001695733324307964, "predicted_m": [ 0.044146629998095155, 0.3392261320923713, -0.02725598380082015 ], "observed_m": [ 0.04427865442170574, 0.3393325350957058, -0.027257735235480543 ] }, { "marker_id": 84, "link": "Board", "error_m": [ 0.00023716692386471783, 2.0939294573196765e-05, 6.799433182237344e-05 ], "error_norm_m": 0.00024760822480815735, "predicted_m": [ 0.4074773290319253, 0.2584292883201036, -0.027210420349808025 ], "observed_m": [ 0.4072401621080606, 0.2584083490255304, -0.0272784146816304 ] }, { "marker_id": 85, "link": "Board", "error_m": [ 0.00022487306012830555, 0.00011419379864796575, 9.683172759022626e-05 ], "error_norm_m": 0.00027015643669775567, "predicted_m": [ 0.5045723033997463, -0.31273986036983914, -0.027291274032414586 ], "observed_m": [ 0.504347430339618, -0.3128540541684871, -0.027388105760004812 ] }, { "marker_id": 86, "link": "Board", "error_m": [ -0.0001254632917183085, -1.6983296780515023e-05, 0.0001481431279126942 ], "error_norm_m": 0.00019487394973696537, "predicted_m": [ 0.36287703701219276, 0.29201890054232005, -0.02721200644866062 ], "observed_m": [ 0.36300250030391107, 0.29203588383910056, -0.027360149576573314 ] }, { "marker_id": 92, "link": "Board", "error_m": [ -0.00012633179447563148, -1.7559610266504322e-05, -2.1443227859692382e-05 ], "error_norm_m": 0.00012933628349843444, "predicted_m": [ 0.6450811872578686, -0.1848286420534576, -0.027246712123549323 ], "observed_m": [ 0.6452075190523442, -0.18481108244319108, -0.02722526889568963 ] }, { "marker_id": 95, "link": "Board", "error_m": [ -0.00010287262343347536, -0.00020467534526941167, -3.4104357829526505e-05 ], "error_norm_m": 0.00023159853375227332, "predicted_m": [ 0.18603197069093566, -0.27406262704734385, -0.027336664311332276 ], "observed_m": [ 0.18613484331436914, -0.27385795170207444, -0.02730255995350275 ] }, { "marker_id": 96, "link": "Board", "error_m": [ -7.860649126412156e-05, 6.680922083057705e-07, -0.00013945098779214252 ], "error_norm_m": 0.00016008124441126603, "predicted_m": [ 0.3697612053016884, -0.18648103283993586, -0.027291882217872064 ], "observed_m": [ 0.3698398117929525, -0.18648170093214417, -0.02715243123007992 ] }, { "marker_id": 97, "link": "Board", "error_m": [ -0.00014768551798360896, -7.615625245599444e-05, -4.133033230501598e-06 ], "error_norm_m": 0.00016621633185073142, "predicted_m": [ 0.30434271480543235, -0.3596615984432015, -0.027331863767053908 ], "observed_m": [ 0.30449040032341596, -0.3595854421907455, -0.027327730733823406 ] }, { "marker_id": 102, "link": "Board", "error_m": [ 1.1665823164364042e-05, 1.5465608509346307e-05, -3.6753312999762006e-05 ], "error_norm_m": 4.154614895661272e-05, "predicted_m": [ 0.6496815196216839, -0.2229886015600459, -0.02725242158690576 ], "observed_m": [ 0.6496698537985195, -0.22300406716855525, -0.027215668273905997 ] }, { "marker_id": 103, "link": "Board", "error_m": [ -9.288132724631637e-05, 0.00014906444048246037, -0.00010019712251580631 ], "error_norm_m": 0.00020220438107972284, "predicted_m": [ 0.10570121944952869, -0.18770332585356062, -0.027335143586890806 ], "observed_m": [ 0.10579410077677501, -0.18785239029404308, -0.027234946464375 ] }, { "marker_id": 105, "link": "Board", "error_m": [ 7.869908302648998e-05, 6.223953691425477e-05, -3.8681953605311514e-05 ], "error_norm_m": 0.00010753417670319849, "predicted_m": [ 0.5248318980518775, -0.2662396851050163, -0.02728009941398969 ], "observed_m": [ 0.524753198968851, -0.26630192464193053, -0.027241417460384377 ] }, { "marker_id": 205, "link": "Board", "error_m": [ -7.709153233903532e-05, -0.00012323223680174578, -9.146852129063353e-06 ], "error_norm_m": 0.00014564667332079035, "predicted_m": [ 0.7499858595489343, -0.0899924044016798, 0.0003864465731985602 ], "observed_m": [ 0.7500629510812733, -0.08986917216487805, 0.00039559342532762356 ] }, { "marker_id": 206, "link": "Board", "error_m": [ 1.3268355892437356e-05, -0.00025155458130986415, 0.00016647467924518202 ], "error_norm_m": 0.0003019430003756598, "predicted_m": [ 0.6499851639739229, -0.009993273925908406, 0.0003836835318289441 ], "observed_m": [ 0.6499718956180305, -0.009741719344598542, 0.0002172088525837621 ] }, { "marker_id": 208, "link": "Board", "error_m": [ -0.00041555690766315045, -0.0005967283625643305, 0.0004986515112266112 ], "error_norm_m": 0.0008817174217649611, "predicted_m": [ 0.3499858648810446, -0.08999587790186883, 0.00032122676726128384 ], "observed_m": [ 0.35040142178870776, -0.0893991495393045, -0.00017742474396532733 ] }, { "marker_id": 210, "link": "Board", "error_m": [ 7.330158369450723e-05, -9.175976654070273e-05, 9.585051762057745e-06 ], "error_norm_m": 0.00011783399401279938, "predicted_m": [ 0.019985259485501596, -0.019998744545058476, 0.00027926959871339593 ], "observed_m": [ 0.01991195790180709, -0.019906984778517774, 0.0002696845469513382 ] }, { "marker_id": 211, "link": "Board", "error_m": [ -6.638516875495659e-05, 3.114044648600857e-05, 2.921027279474491e-05 ], "error_norm_m": 7.893008345818115e-05, "predicted_m": [ 0.24998516930603326, -0.009996747426097444, 0.00031846372589166774 ], "observed_m": [ 0.2500515544747882, -0.010027887872583453, 0.00028925345309692283 ] }, { "marker_id": 214, "link": "Board", "error_m": [ -1.3655493271036434e-05, -0.00018081026116571926, 0.0001485519203191847 ], "error_norm_m": 0.00023440668947324932, "predicted_m": [ 0.34998516797300566, -0.009995879051050184, 0.00033476867737598684 ], "observed_m": [ 0.3499988234662767, -0.009815068789884465, 0.00018621675705680213 ] }, { "marker_id": 215, "link": "Board", "error_m": [ -0.00019510692681490305, -0.0005514924503236956, 0.00031475858935328834 ], "error_norm_m": 0.0006642918072856701, "predicted_m": [ 0.2499858662140722, -0.0899967462769161, 0.00030492181577696474 ], "observed_m": [ 0.2501809731408871, -0.08944525382659241, -9.836773576323602e-06 ] }, { "marker_id": 217, "link": "Board", "error_m": [ 2.6733506089171577e-05, 4.610700749592411e-05, -8.213383490965673e-05 ], "error_norm_m": 9.791069055530005e-05, "predicted_m": [ 0.6499858608819619, -0.08999327277672706, 0.0003701416217142411 ], "observed_m": [ 0.6499591273758727, -0.09003937978422298, 0.00045227545662389785 ] }, { "marker_id": 242, "link": "Arm1", "error_m": [ 0.0001961094986493439, 0.3223034718141937, 0.04547188827737367 ], "error_norm_m": 0.3254954055373565, "predicted_m": [ 0.1799440357181777, 0.24215114074532867, 0.2748643976000087 ], "observed_m": [ 0.17974792621952834, -0.08015233106886506, 0.22939250932263502 ] }, { "marker_id": 243, "link": "Arm1", "error_m": [ -0.00020945211574099898, 0.366780888789078, -0.0003397086519400516 ], "error_norm_m": 0.3667811059106821, "predicted_m": [ 0.17994291436537968, 0.2914657362385865, 0.2791153586767599 ], "observed_m": [ 0.18015236648112068, -0.07531515255049145, 0.27945506732869996 ] } ], "stage_idx": 0, "num_active_links": 3 }, { "method": "deterministic_geometric_prefix", "active_links": [ "Board", "Base", "Arm1", "Ellbow" ], "active_observations": 51, "joint_updates": [ { "pass": 0, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.07000582151654536, "new": 0.07009906838072462, "info": { "reason": "weighted_projection", "used_markers": 6, "axis_world": [ 0.999999986668724, 8.683750472587675e-06, 0.00016304951484302795 ], "per_marker": [ { "marker_id": 242, "q_i": 0.06979949904812209, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.07021214398496864, "weight": 1.0 }, { "marker_id": 244, "q_i": 0.07051515109572838, "weight": 1.0 }, { "marker_id": 246, "q_i": 0.07002903021371613, "weight": 1.0 }, { "marker_id": 247, "q_i": 0.07014308439517916, "weight": 1.0 }, { "marker_id": 231, "q_i": 0.06989550154663339, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 2.270375453015472, "new": 2.3019937593369093, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 6, "axis_world": [ -0.999999986668724, -8.683750472587675e-06, -0.00016304951484302795 ], "axis_id": 0, "theta_rad": -0.8395988942528838, "theta_alt_rad": 2.3019937593369093, "score_theta": 0.9308764275640729, "score_theta_alt": 0.8199908744448033, "best_score": 0.8199908744448033, "per_marker": [ { "marker_id": 242, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 }, { "marker_id": 244, "weight": 1.0 }, { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 231, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": 0.0, "new": -2.283547834417375, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 3, "axis_world": [ -0.999999986668724, -8.683750472587674e-06, -0.00016304951484302793 ], "axis_id": 0, "theta_rad": -2.283547834417375, "theta_alt_rad": 0.8580448191724179, "score_theta": 0.4690792246210326, "score_theta_alt": 0.7195079351427202, "best_score": 0.4690792246210326, "per_marker": [ { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 231, "weight": 1.0 } ] } } ] }, { "pass": 1, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.07009906838072462, "new": 0.07009906838092457, "info": { "reason": "weighted_projection", "used_markers": 6, "axis_world": [ 0.999999986668724, 8.683750472587675e-06, 0.00016304951484302795 ], "per_marker": [ { "marker_id": 242, "q_i": 0.06979949904812209, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.07021214398496863, "weight": 1.0 }, { "marker_id": 244, "q_i": 0.07051515109614784, "weight": 1.0 }, { "marker_id": 246, "q_i": 0.07002903021401816, "weight": 1.0 }, { "marker_id": 247, "q_i": 0.07014308439535535, "weight": 1.0 }, { "marker_id": 231, "q_i": 0.06989550154693538, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 2.3019937593369093, "new": 2.206136315612853, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 6, "axis_world": [ -0.999999986668724, -8.683750472587675e-06, -0.00016304951484302795 ], "axis_id": 0, "theta_rad": -0.93545633797694, "theta_alt_rad": 2.206136315612853, "score_theta": 1.1621500935170794, "score_theta_alt": 0.701336256908326, "best_score": 0.701336256908326, "per_marker": [ { "marker_id": 242, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 }, { "marker_id": 244, "weight": 1.0 }, { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 231, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": -2.283547834417375, "new": -2.339209398421208, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 3, "axis_world": [ -0.999999986668724, -8.683750472587675e-06, -0.00016304951484302795 ], "axis_id": 0, "theta_rad": -2.339209398421208, "theta_alt_rad": 0.8023832551685852, "score_theta": 0.40716827447674375, "score_theta_alt": 0.6806967649397792, "best_score": 0.40716827447674375, "per_marker": [ { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 231, "weight": 1.0 } ] } } ] } ], "root_link": "Board", "root_pose": { "reason": "kabsch", "used_markers": [ 210, 211, 215, 214, 208, 206, 205, 217, 46, 47, 48, 51, 52, 53, 54, 55, 56, 57, 58, 59, 61, 62, 63, 64, 66, 68, 69, 71, 72, 73, 75, 76, 79, 82, 83, 84, 85, 86, 92, 95, 96, 97, 102, 103, 105 ] }, "marker_stats": { "num_markers_used": 51, "mean_error_m": 0.03794038232265663, "rms_error_m": 0.11010327743258568, "median_error_m": 0.00022400171194436404, "worst_error_m": 0.35257357929664757 }, "marker_reports": [ { "marker_id": 46, "link": "Board", "error_m": [ 9.842109278201949e-05, 0.00028088368817874576, -0.0004318691867546756 ], "error_norm_m": 0.0005244934244177391, "predicted_m": [ 0.5366979630637456, 0.18545041148268035, -0.027201704699002124 ], "observed_m": [ 0.5365995419709636, 0.1851695277945016, -0.026769835512247448 ] }, { "marker_id": 47, "link": "Board", "error_m": [ 9.133192655708111e-05, -4.97532984700122e-05, 5.921974964948756e-05 ], "error_norm_m": 0.0001196824559650334, "predicted_m": [ 0.34422207721275994, -0.286531253185728, -0.02731298235381836 ], "observed_m": [ 0.34413074528620285, -0.28648149988725796, -0.027372202103467847 ] }, { "marker_id": 48, "link": "Board", "error_m": [ -7.795144429934009e-05, -5.325037499320784e-05, -1.8547821481522397e-05 ], "error_norm_m": 9.620837690648772e-05, "predicted_m": [ 0.6886823703749727, -0.3207082614900525, -0.027262604099031983 ], "observed_m": [ 0.688760321819272, -0.3206550111150593, -0.02724405627755046 ] }, { "marker_id": 51, "link": "Board", "error_m": [ 0.00019570836583213125, 9.042519269070182e-05, -9.198984621965056e-05 ], "error_norm_m": 0.00023439413759168302, "predicted_m": [ 0.16779108246344376, -0.1720727869040151, -0.027322374091825533 ], "observed_m": [ 0.16759537409761163, -0.1721632120967058, -0.027230384245605883 ] }, { "marker_id": 52, "link": "Board", "error_m": [ -7.495509450958227e-05, -0.0002506946362413609, 9.326230617761819e-05 ], "error_norm_m": 0.0002777839530763008, "predicted_m": [ 0.09466776667856919, 0.2086665726709091, -0.02726984693663747 ], "observed_m": [ 0.09474272177307877, 0.20891726730715046, -0.027363109242815088 ] }, { "marker_id": 53, "link": "Board", "error_m": [ -1.8096638906284213e-05, 0.00016102836503550932, 7.50494941935409e-07 ], "error_norm_m": 0.0001620437778144275, "predicted_m": [ 0.48623773027219824, 0.21224997291565578, -0.027205395637632687 ], "observed_m": [ 0.4862558269111045, 0.21208894455062027, -0.027206146132574622 ] }, { "marker_id": 54, "link": "Board", "error_m": [ -0.0001791947677103889, 0.00011230556435071204, -0.00013453071315852258 ], "error_norm_m": 0.00025064280827873927, "predicted_m": [ 0.34226246097387614, -0.330581269573111, -0.02732075844512436 ], "observed_m": [ 0.3424416557415865, -0.3306935751374617, -0.02718622773196584 ] }, { "marker_id": 55, "link": "Board", "error_m": [ -2.880809897204406e-05, -5.1771921821430755e-05, 0.00012157579195993043 ], "error_norm_m": 0.00013524389689058692, "predicted_m": [ 0.28371186929541725, -0.2625717789836489, -0.02731879267788217 ], "observed_m": [ 0.2837406773943893, -0.2625200070618275, -0.0274403684698421 ] }, { "marker_id": 56, "link": "Board", "error_m": [ 0.00012304752698361066, 0.00015214290254239593, -0.00010903490387577028 ], "error_norm_m": 0.00022400171194436404, "predicted_m": [ 0.49866810966004366, 0.168680081480547, -0.027210744194959405 ], "observed_m": [ 0.49854506213306005, 0.1685279385780046, -0.027101709291083634 ] }, { "marker_id": 57, "link": "Board", "error_m": [ -0.00021238179990767936, 6.237638045353266e-05, -7.243158480250977e-05 ], "error_norm_m": 0.000232901645008172, "predicted_m": [ 0.6028527489819269, -0.3640390061939302, -0.027283933275956847 ], "observed_m": [ 0.6030651307818345, -0.36410138257438374, -0.027211501691154338 ] }, { "marker_id": 58, "link": "Board", "error_m": [ 5.834501212421961e-05, 0.0001676518494652668, -0.00018470750241864065 ], "error_norm_m": 0.0002561799065473948, "predicted_m": [ 0.05008148501601344, -0.21810380840707302, -0.02734935832674997 ], "observed_m": [ 0.05002314000388922, -0.2182714602565383, -0.02716465082433133 ] }, { "marker_id": 59, "link": "Board", "error_m": [ 7.018605692199475e-05, -1.9936252498853335e-05, 5.385413452158039e-05 ], "error_norm_m": 9.068519479509321e-05, "predicted_m": [ 0.6262020055924684, -0.27873880465367123, -0.02726568700812546 ], "observed_m": [ 0.6261318195355464, -0.2787188684011724, -0.02731954114264704 ] }, { "marker_id": 61, "link": "Board", "error_m": [ 7.734952797596589e-05, 7.851424995392042e-05, 8.135259861158026e-05 ], "error_norm_m": 0.00013698789079618793, "predicted_m": [ -0.022433339582896925, 0.3358355539769614, -0.02726741347595952 ], "observed_m": [ -0.02251068911087289, 0.3357570397270075, -0.0273487660745711 ] }, { "marker_id": 62, "link": "Board", "error_m": [ 0.0002934154331606931, 0.00022355980683669285, 3.391001305252245e-05 ], "error_norm_m": 0.00037043419474308635, "predicted_m": [ 0.4046911056137798, -0.17509072968014652, -0.027284258868866013 ], "observed_m": [ 0.4043976901806191, -0.17531428948698322, -0.027318168881918535 ] }, { "marker_id": 63, "link": "Board", "error_m": [ 4.725801655502959e-05, 8.649128375748383e-05, 0.00016914152514853342 ], "error_norm_m": 0.00019576240145723848, "predicted_m": [ 0.7773916324735332, -0.2361374923693764, -0.027233824484840234 ], "observed_m": [ 0.7773443744569781, -0.23622398365313388, -0.027402966009988768 ] }, { "marker_id": 64, "link": "Board", "error_m": [ 0.00014518099878982685, -0.00019503643868928888, -6.120716228158463e-07 ], "error_norm_m": 0.00024314010252914658, "predicted_m": [ -0.021278774327890618, -0.18822442850872592, -0.02735593563670134 ], "observed_m": [ -0.021423955326680445, -0.18802939207003663, -0.027355323565078523 ] }, { "marker_id": 66, "link": "Board", "error_m": [ -0.0001186664765544243, 0.00016218551757885002, -0.00016026341372418415 ], "error_norm_m": 0.00025704131292204804, "predicted_m": [ 0.20974274707888424, -0.3632224198748577, -0.02734789086615818 ], "observed_m": [ 0.20986141355543866, -0.36338460539243655, -0.027187627452433995 ] }, { "marker_id": 68, "link": "Board", "error_m": [ -0.00016958161888946943, -0.0002235718707464529, 0.00033998192408219927 ], "error_norm_m": 0.0004408287825867048, "predicted_m": [ 0.573718091498246, 0.1706507331677214, -0.02719817385933385 ], "observed_m": [ 0.5738876731171355, 0.17087430503846784, -0.02753815578341605 ] }, { "marker_id": 69, "link": "Board", "error_m": [ 0.00018059010402864638, 3.0791777882788196e-05, -7.836541172552905e-05 ], "error_norm_m": 0.00019925375031143571, "predicted_m": [ 0.007602035268499278, -0.28120417638637624, -0.027366965851743485 ], "observed_m": [ 0.007421445164470632, -0.281234968164259, -0.027288600440017956 ] }, { "marker_id": 71, "link": "Board", "error_m": [ -0.0001690308924547912, -3.907719659373976e-05, 2.0166391535479666e-05 ], "error_norm_m": 0.0001746572450408263, "predicted_m": [ 0.7497420497673496, -0.28399773178757926, -0.027246434251651772 ], "observed_m": [ 0.7499110806598044, -0.2839586545909855, -0.027266600643187252 ] }, { "marker_id": 72, "link": "Board", "error_m": [ 4.104467268839507e-05, -5.8445265070899977e-05, -2.7946864180079106e-05 ], "error_norm_m": 7.669120798895421e-05, "predicted_m": [ 0.4409778869829273, 0.194329580146526, -0.027215808646540184 ], "observed_m": [ 0.4409368423102389, 0.1943880254115969, -0.027187861782360104 ] }, { "marker_id": 73, "link": "Board", "error_m": [ -9.757090487746978e-05, 9.403203218910638e-05, -0.00015601605639981378 ], "error_norm_m": 0.00020664731890535445, "predicted_m": [ 0.22171668085738952, 0.3331176741537114, -0.027228065361854455 ], "observed_m": [ 0.221814251762267, 0.3330236421215223, -0.02707204930545464 ] }, { "marker_id": 75, "link": "Board", "error_m": [ 3.069506615535275e-05, 2.64472195354859e-06, -8.067143223433951e-05 ], "error_norm_m": 8.635427968104821e-05, "predicted_m": [ -0.025712109060917355, 0.19458552752328312, -0.027291858213414476 ], "observed_m": [ -0.025742804127072708, 0.19458288280132957, -0.027211186781180136 ] }, { "marker_id": 76, "link": "Board", "error_m": [ 0.0005151466298424223, 0.0005536495209004233, -0.0005481980317417444 ], "error_norm_m": 0.0009340368966142594, "predicted_m": [ 0.6851981234637727, 0.16681170128738482, -0.027180647111104635 ], "observed_m": [ 0.6846829768339303, 0.1662580517664844, -0.02663244907936289 ] }, { "marker_id": 79, "link": "Board", "error_m": [ -3.924505815539048e-05, 0.00014105953314505482, 0.00012972599277028332 ], "error_norm_m": 0.00019561901666493572, "predicted_m": [ 0.31229096755100305, -0.15910153228838284, -0.027296617954753345 ], "observed_m": [ 0.31233021260915844, -0.1592425918215279, -0.027426343947523628 ] }, { "marker_id": 82, "link": "Board", "error_m": [ 0.00012571552755333282, 0.0003193318097063913, -2.36640459273553e-05 ], "error_norm_m": 0.0003440017232922295, "predicted_m": [ 0.21914699336779028, 0.29724765235173695, -0.02723455625305528 ], "observed_m": [ 0.21902127784023695, 0.29692832054203055, -0.027210892207127926 ] }, { "marker_id": 83, "link": "Board", "error_m": [ -0.00013202442361058553, -0.00010640300333453201, 1.751434660392237e-06 ], "error_norm_m": 0.0001695733324307964, "predicted_m": [ 0.044146629998095155, 0.3392261320923713, -0.02725598380082015 ], "observed_m": [ 0.04427865442170574, 0.3393325350957058, -0.027257735235480543 ] }, { "marker_id": 84, "link": "Board", "error_m": [ 0.00023716692386471783, 2.0939294573196765e-05, 6.799433182237344e-05 ], "error_norm_m": 0.00024760822480815735, "predicted_m": [ 0.4074773290319253, 0.2584292883201036, -0.027210420349808025 ], "observed_m": [ 0.4072401621080606, 0.2584083490255304, -0.0272784146816304 ] }, { "marker_id": 85, "link": "Board", "error_m": [ 0.00022487306012830555, 0.00011419379864796575, 9.683172759022626e-05 ], "error_norm_m": 0.00027015643669775567, "predicted_m": [ 0.5045723033997463, -0.31273986036983914, -0.027291274032414586 ], "observed_m": [ 0.504347430339618, -0.3128540541684871, -0.027388105760004812 ] }, { "marker_id": 86, "link": "Board", "error_m": [ -0.0001254632917183085, -1.6983296780515023e-05, 0.0001481431279126942 ], "error_norm_m": 0.00019487394973696537, "predicted_m": [ 0.36287703701219276, 0.29201890054232005, -0.02721200644866062 ], "observed_m": [ 0.36300250030391107, 0.29203588383910056, -0.027360149576573314 ] }, { "marker_id": 92, "link": "Board", "error_m": [ -0.00012633179447563148, -1.7559610266504322e-05, -2.1443227859692382e-05 ], "error_norm_m": 0.00012933628349843444, "predicted_m": [ 0.6450811872578686, -0.1848286420534576, -0.027246712123549323 ], "observed_m": [ 0.6452075190523442, -0.18481108244319108, -0.02722526889568963 ] }, { "marker_id": 95, "link": "Board", "error_m": [ -0.00010287262343347536, -0.00020467534526941167, -3.4104357829526505e-05 ], "error_norm_m": 0.00023159853375227332, "predicted_m": [ 0.18603197069093566, -0.27406262704734385, -0.027336664311332276 ], "observed_m": [ 0.18613484331436914, -0.27385795170207444, -0.02730255995350275 ] }, { "marker_id": 96, "link": "Board", "error_m": [ -7.860649126412156e-05, 6.680922083057705e-07, -0.00013945098779214252 ], "error_norm_m": 0.00016008124441126603, "predicted_m": [ 0.3697612053016884, -0.18648103283993586, -0.027291882217872064 ], "observed_m": [ 0.3698398117929525, -0.18648170093214417, -0.02715243123007992 ] }, { "marker_id": 97, "link": "Board", "error_m": [ -0.00014768551798360896, -7.615625245599444e-05, -4.133033230501598e-06 ], "error_norm_m": 0.00016621633185073142, "predicted_m": [ 0.30434271480543235, -0.3596615984432015, -0.027331863767053908 ], "observed_m": [ 0.30449040032341596, -0.3595854421907455, -0.027327730733823406 ] }, { "marker_id": 102, "link": "Board", "error_m": [ 1.1665823164364042e-05, 1.5465608509346307e-05, -3.6753312999762006e-05 ], "error_norm_m": 4.154614895661272e-05, "predicted_m": [ 0.6496815196216839, -0.2229886015600459, -0.02725242158690576 ], "observed_m": [ 0.6496698537985195, -0.22300406716855525, -0.027215668273905997 ] }, { "marker_id": 103, "link": "Board", "error_m": [ -9.288132724631637e-05, 0.00014906444048246037, -0.00010019712251580631 ], "error_norm_m": 0.00020220438107972284, "predicted_m": [ 0.10570121944952869, -0.18770332585356062, -0.027335143586890806 ], "observed_m": [ 0.10579410077677501, -0.18785239029404308, -0.027234946464375 ] }, { "marker_id": 105, "link": "Board", "error_m": [ 7.869908302648998e-05, 6.223953691425477e-05, -3.8681953605311514e-05 ], "error_norm_m": 0.00010753417670319849, "predicted_m": [ 0.5248318980518775, -0.2662396851050163, -0.02728009941398969 ], "observed_m": [ 0.524753198968851, -0.26630192464193053, -0.027241417460384377 ] }, { "marker_id": 205, "link": "Board", "error_m": [ -7.709153233903532e-05, -0.00012323223680174578, -9.146852129063353e-06 ], "error_norm_m": 0.00014564667332079035, "predicted_m": [ 0.7499858595489343, -0.0899924044016798, 0.0003864465731985602 ], "observed_m": [ 0.7500629510812733, -0.08986917216487805, 0.00039559342532762356 ] }, { "marker_id": 206, "link": "Board", "error_m": [ 1.3268355892437356e-05, -0.00025155458130986415, 0.00016647467924518202 ], "error_norm_m": 0.0003019430003756598, "predicted_m": [ 0.6499851639739229, -0.009993273925908406, 0.0003836835318289441 ], "observed_m": [ 0.6499718956180305, -0.009741719344598542, 0.0002172088525837621 ] }, { "marker_id": 208, "link": "Board", "error_m": [ -0.00041555690766315045, -0.0005967283625643305, 0.0004986515112266112 ], "error_norm_m": 0.0008817174217649611, "predicted_m": [ 0.3499858648810446, -0.08999587790186883, 0.00032122676726128384 ], "observed_m": [ 0.35040142178870776, -0.0893991495393045, -0.00017742474396532733 ] }, { "marker_id": 210, "link": "Board", "error_m": [ 7.330158369450723e-05, -9.175976654070273e-05, 9.585051762057745e-06 ], "error_norm_m": 0.00011783399401279938, "predicted_m": [ 0.019985259485501596, -0.019998744545058476, 0.00027926959871339593 ], "observed_m": [ 0.01991195790180709, -0.019906984778517774, 0.0002696845469513382 ] }, { "marker_id": 211, "link": "Board", "error_m": [ -6.638516875495659e-05, 3.114044648600857e-05, 2.921027279474491e-05 ], "error_norm_m": 7.893008345818115e-05, "predicted_m": [ 0.24998516930603326, -0.009996747426097444, 0.00031846372589166774 ], "observed_m": [ 0.2500515544747882, -0.010027887872583453, 0.00028925345309692283 ] }, { "marker_id": 214, "link": "Board", "error_m": [ -1.3655493271036434e-05, -0.00018081026116571926, 0.0001485519203191847 ], "error_norm_m": 0.00023440668947324932, "predicted_m": [ 0.34998516797300566, -0.009995879051050184, 0.00033476867737598684 ], "observed_m": [ 0.3499988234662767, -0.009815068789884465, 0.00018621675705680213 ] }, { "marker_id": 215, "link": "Board", "error_m": [ -0.00019510692681490305, -0.0005514924503236956, 0.00031475858935328834 ], "error_norm_m": 0.0006642918072856701, "predicted_m": [ 0.2499858662140722, -0.0899967462769161, 0.00030492181577696474 ], "observed_m": [ 0.2501809731408871, -0.08944525382659241, -9.836773576323602e-06 ] }, { "marker_id": 217, "link": "Board", "error_m": [ 2.6733506089171577e-05, 4.610700749592411e-05, -8.213383490965673e-05 ], "error_norm_m": 9.791069055530005e-05, "predicted_m": [ 0.6499858608819619, -0.08999327277672706, 0.0003701416217142411 ], "observed_m": [ 0.6499591273758727, -0.09003937978422298, 0.00045227545662389785 ] }, { "marker_id": 231, "link": "Ellbow", "error_m": [ 0.00019988885117044886, 0.31545648148088484, 0.0057567787313176355 ], "error_norm_m": 0.31550906827730646, "predicted_m": [ 0.2700344916251127, 0.2775645116981439, 0.2901029397600963 ], "observed_m": [ 0.2698346027739423, -0.037891969782740946, 0.2843461610287787 ] }, { "marker_id": 242, "link": "Arm1", "error_m": [ 0.00028814565044402163, 0.3082994707686178, 0.05364315492154367 ], "error_norm_m": 0.31293167748577716, "predicted_m": [ 0.18003607186997236, 0.22814713969975275, 0.2830356642441787 ], "observed_m": [ 0.17974792621952834, -0.08015233106886506, 0.22939250932263502 ] }, { "marker_id": 243, "link": "Arm1", "error_m": [ -0.0001179274550948961, 0.35240227997635465, 0.01098853851209014 ], "error_norm_m": 0.35257357929664757, "predicted_m": [ 0.18003443902602578, 0.2770871274258632, 0.2904436058407901 ], "observed_m": [ 0.18015236648112068, -0.07531515255049145, 0.27945506732869996 ] }, { "marker_id": 244, "link": "Ellbow", "error_m": [ -0.000420391270187781, 0.309299871291657, 0.009951984992590424 ], "error_norm_m": 0.3094602221855797, "predicted_m": [ 0.3050392114371619, 0.25632218991366496, 0.2622900226878866 ], "observed_m": [ 0.3054596027073497, -0.052977681377992025, 0.25233803769529617 ] }, { "marker_id": 246, "link": "Ellbow", "error_m": [ 6.540460368920087e-05, 0.3166449395535783, 0.011554148525241836 ], "error_norm_m": 0.31685567751074745, "predicted_m": [ 0.2700335961301458, 0.2516721900815852, 0.29697408817219645 ], "observed_m": [ 0.2699681915264566, -0.0649727494719931, 0.2854199396469546 ] }, { "marker_id": 247, "link": "Ellbow", "error_m": [ -4.864997149037209e-05, 0.3165089693699569, 0.011563796211133182 ], "error_norm_m": 0.31672014688248784, "predicted_m": [ 0.23253359663027778, 0.2516718644409425, 0.29696797381538986 ], "observed_m": [ 0.23258224660176816, -0.06483710492901439, 0.2854041776042567 ] } ], "stage_idx": 1, "num_active_links": 4 }, { "method": "deterministic_geometric_prefix", "active_links": [ "Board", "Base", "Arm1", "Ellbow", "Arm2" ], "active_observations": 56, "joint_updates": [ { "pass": 0, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.07009906838092457, "new": 0.06307447396480381, "info": { "reason": "weighted_projection", "used_markers": 11, "axis_world": [ 0.999999986668724, 8.683750472587675e-06, 0.00016304951484302795 ], "per_marker": [ { "marker_id": 242, "q_i": 0.06979949904812209, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.07021214398496863, "weight": 1.0 }, { "marker_id": 244, "q_i": 0.07051515109613953, "weight": 1.0 }, { "marker_id": 246, "q_i": 0.07002903021401215, "weight": 1.0 }, { "marker_id": 247, "q_i": 0.07014308439535186, "weight": 1.0 }, { "marker_id": 231, "q_i": 0.0698955015469294, "weight": 1.0 }, { "marker_id": 120, "q_i": 0.054777432663191475, "weight": 1.0 }, { "marker_id": 218, "q_i": 0.017339910587746605, "weight": 1.0 }, { "marker_id": 114, "q_i": 0.054712106950584254, "weight": 1.0 }, { "marker_id": 115, "q_i": 0.1290769968411514, "weight": 1.0 }, { "marker_id": 219, "q_i": 0.01731835628464461, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 2.206136315612853, "new": 2.1072217643268107, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 11, "axis_world": [ -0.999999986668724, -8.683750472587675e-06, -0.00016304951484302795 ], "axis_id": 0, "theta_rad": -1.0343708892629828, "theta_alt_rad": 2.1072217643268107, "score_theta": 2.4152624264051066, "score_theta_alt": 1.0579272759615324, "best_score": 1.0579272759615324, "per_marker": [ { "marker_id": 242, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 }, { "marker_id": 244, "weight": 1.0 }, { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 231, "weight": 1.0 }, { "marker_id": 120, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 114, "weight": 1.0 }, { "marker_id": 115, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": -2.339209398421208, "new": -0.914618478398662, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 8, "axis_world": [ -0.999999986668724, -8.683750472587674e-06, -0.00016304951484302795 ], "axis_id": 0, "theta_rad": 2.226974175191131, "theta_alt_rad": -0.914618478398662, "score_theta": 1.882465389783582, "score_theta_alt": 1.468581565286661, "best_score": 1.468581565286661, "per_marker": [ { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 231, "weight": 1.0 }, { "marker_id": 120, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 114, "weight": 1.0 }, { "marker_id": 115, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } }, { "link": "Arm2", "joint_variable": "a", "joint_type": "revolute", "old": 0.0, "new": -0.9270520182731135, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 5, "axis_world": [ -0.00014830939000939604, -0.36939911360737354, 0.9292708285900357 ], "axis_id": 2, "theta_rad": -0.9270520182731135, "theta_alt_rad": 2.2145406353166797, "score_theta": 1.0149244803888389, "score_theta_alt": 1.2817086375714952, "best_score": 1.0149244803888389, "per_marker": [ { "marker_id": 120, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 114, "weight": 1.0 }, { "marker_id": 115, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } } ] }, { "pass": 1, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.06307447396480381, "new": 0.07191726767703309, "info": { "reason": "weighted_projection", "used_markers": 11, "axis_world": [ 0.999999986668724, 8.683750472587675e-06, 0.00016304951484302795 ], "per_marker": [ { "marker_id": 242, "q_i": 0.0697994990481221, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.07021214398496864, "weight": 1.0 }, { "marker_id": 244, "q_i": 0.07051515109579268, "weight": 1.0 }, { "marker_id": 246, "q_i": 0.07002903021376242, "weight": 1.0 }, { "marker_id": 247, "q_i": 0.07014308439520617, "weight": 1.0 }, { "marker_id": 231, "q_i": 0.06989550154667964, "weight": 1.0 }, { "marker_id": 120, "q_i": 0.08446900564581467, "weight": 1.0 }, { "marker_id": 218, "q_i": 0.03133310161603584, "weight": 1.0 }, { "marker_id": 114, "q_i": 0.0844036799332074, "weight": 1.0 }, { "marker_id": 115, "q_i": 0.13897819965484084, "weight": 1.0 }, { "marker_id": 219, "q_i": 0.03131154731293377, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 2.1072217643268107, "new": 2.2819525158203575, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 11, "axis_world": [ -0.999999986668724, -8.683750472587675e-06, -0.00016304951484302795 ], "axis_id": 0, "theta_rad": -0.859640137769435, "theta_alt_rad": 2.2819525158203575, "score_theta": 2.5186178870509544, "score_theta_alt": 1.9430639441952449, "best_score": 1.9430639441952449, "per_marker": [ { "marker_id": 242, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 }, { "marker_id": 244, "weight": 1.0 }, { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 231, "weight": 1.0 }, { "marker_id": 120, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 114, "weight": 1.0 }, { "marker_id": 115, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": -0.914618478398662, "new": -0.8522010987378934, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 8, "axis_world": [ -0.999999986668724, -8.683750472587674e-06, -0.00016304951484302793 ], "axis_id": 0, "theta_rad": 2.2893915548518997, "theta_alt_rad": -0.8522010987378934, "score_theta": 2.0108559119330005, "score_theta_alt": 1.8314268049024356, "best_score": 1.8314268049024356, "per_marker": [ { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 231, "weight": 1.0 }, { "marker_id": 120, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 114, "weight": 1.0 }, { "marker_id": 115, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } }, { "link": "Arm2", "joint_variable": "a", "joint_type": "revolute", "old": -0.9270520182731135, "new": -0.9213157425842446, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 5, "axis_world": [ -0.00016020429590969567, -0.14074531689911135, 0.9900458222241799 ], "axis_id": 2, "theta_rad": -0.9213157425842445, "theta_alt_rad": 2.2202769110055485, "score_theta": 1.3041734458285579, "score_theta_alt": 1.5524143312114016, "best_score": 1.3041734458285579, "per_marker": [ { "marker_id": 120, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 114, "weight": 1.0 }, { "marker_id": 115, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } } ] } ], "root_link": "Board", "root_pose": { "reason": "kabsch", "used_markers": [ 210, 211, 215, 214, 208, 206, 205, 217, 46, 47, 48, 51, 52, 53, 54, 55, 56, 57, 58, 59, 61, 62, 63, 64, 66, 68, 69, 71, 72, 73, 75, 76, 79, 82, 83, 84, 85, 86, 92, 95, 96, 97, 102, 103, 105 ] }, "marker_stats": { "num_markers_used": 56, "mean_error_m": 0.08062002444006879, "rms_error_m": 0.18464576491504892, "median_error_m": 0.0002336478912999275, "worst_error_m": 0.5475623463439726 }, "marker_reports": [ { "marker_id": 46, "link": "Board", "error_m": [ 9.842109278201949e-05, 0.00028088368817874576, -0.0004318691867546756 ], "error_norm_m": 0.0005244934244177391, "predicted_m": [ 0.5366979630637456, 0.18545041148268035, -0.027201704699002124 ], "observed_m": [ 0.5365995419709636, 0.1851695277945016, -0.026769835512247448 ] }, { "marker_id": 47, "link": "Board", "error_m": [ 9.133192655708111e-05, -4.97532984700122e-05, 5.921974964948756e-05 ], "error_norm_m": 0.0001196824559650334, "predicted_m": [ 0.34422207721275994, -0.286531253185728, -0.02731298235381836 ], "observed_m": [ 0.34413074528620285, -0.28648149988725796, -0.027372202103467847 ] }, { "marker_id": 48, "link": "Board", "error_m": [ -7.795144429934009e-05, -5.325037499320784e-05, -1.8547821481522397e-05 ], "error_norm_m": 9.620837690648772e-05, "predicted_m": [ 0.6886823703749727, -0.3207082614900525, -0.027262604099031983 ], "observed_m": [ 0.688760321819272, -0.3206550111150593, -0.02724405627755046 ] }, { "marker_id": 51, "link": "Board", "error_m": [ 0.00019570836583213125, 9.042519269070182e-05, -9.198984621965056e-05 ], "error_norm_m": 0.00023439413759168302, "predicted_m": [ 0.16779108246344376, -0.1720727869040151, -0.027322374091825533 ], "observed_m": [ 0.16759537409761163, -0.1721632120967058, -0.027230384245605883 ] }, { "marker_id": 52, "link": "Board", "error_m": [ -7.495509450958227e-05, -0.0002506946362413609, 9.326230617761819e-05 ], "error_norm_m": 0.0002777839530763008, "predicted_m": [ 0.09466776667856919, 0.2086665726709091, -0.02726984693663747 ], "observed_m": [ 0.09474272177307877, 0.20891726730715046, -0.027363109242815088 ] }, { "marker_id": 53, "link": "Board", "error_m": [ -1.8096638906284213e-05, 0.00016102836503550932, 7.50494941935409e-07 ], "error_norm_m": 0.0001620437778144275, "predicted_m": [ 0.48623773027219824, 0.21224997291565578, -0.027205395637632687 ], "observed_m": [ 0.4862558269111045, 0.21208894455062027, -0.027206146132574622 ] }, { "marker_id": 54, "link": "Board", "error_m": [ -0.0001791947677103889, 0.00011230556435071204, -0.00013453071315852258 ], "error_norm_m": 0.00025064280827873927, "predicted_m": [ 0.34226246097387614, -0.330581269573111, -0.02732075844512436 ], "observed_m": [ 0.3424416557415865, -0.3306935751374617, -0.02718622773196584 ] }, { "marker_id": 55, "link": "Board", "error_m": [ -2.880809897204406e-05, -5.1771921821430755e-05, 0.00012157579195993043 ], "error_norm_m": 0.00013524389689058692, "predicted_m": [ 0.28371186929541725, -0.2625717789836489, -0.02731879267788217 ], "observed_m": [ 0.2837406773943893, -0.2625200070618275, -0.0274403684698421 ] }, { "marker_id": 56, "link": "Board", "error_m": [ 0.00012304752698361066, 0.00015214290254239593, -0.00010903490387577028 ], "error_norm_m": 0.00022400171194436404, "predicted_m": [ 0.49866810966004366, 0.168680081480547, -0.027210744194959405 ], "observed_m": [ 0.49854506213306005, 0.1685279385780046, -0.027101709291083634 ] }, { "marker_id": 57, "link": "Board", "error_m": [ -0.00021238179990767936, 6.237638045353266e-05, -7.243158480250977e-05 ], "error_norm_m": 0.000232901645008172, "predicted_m": [ 0.6028527489819269, -0.3640390061939302, -0.027283933275956847 ], "observed_m": [ 0.6030651307818345, -0.36410138257438374, -0.027211501691154338 ] }, { "marker_id": 58, "link": "Board", "error_m": [ 5.834501212421961e-05, 0.0001676518494652668, -0.00018470750241864065 ], "error_norm_m": 0.0002561799065473948, "predicted_m": [ 0.05008148501601344, -0.21810380840707302, -0.02734935832674997 ], "observed_m": [ 0.05002314000388922, -0.2182714602565383, -0.02716465082433133 ] }, { "marker_id": 59, "link": "Board", "error_m": [ 7.018605692199475e-05, -1.9936252498853335e-05, 5.385413452158039e-05 ], "error_norm_m": 9.068519479509321e-05, "predicted_m": [ 0.6262020055924684, -0.27873880465367123, -0.02726568700812546 ], "observed_m": [ 0.6261318195355464, -0.2787188684011724, -0.02731954114264704 ] }, { "marker_id": 61, "link": "Board", "error_m": [ 7.734952797596589e-05, 7.851424995392042e-05, 8.135259861158026e-05 ], "error_norm_m": 0.00013698789079618793, "predicted_m": [ -0.022433339582896925, 0.3358355539769614, -0.02726741347595952 ], "observed_m": [ -0.02251068911087289, 0.3357570397270075, -0.0273487660745711 ] }, { "marker_id": 62, "link": "Board", "error_m": [ 0.0002934154331606931, 0.00022355980683669285, 3.391001305252245e-05 ], "error_norm_m": 0.00037043419474308635, "predicted_m": [ 0.4046911056137798, -0.17509072968014652, -0.027284258868866013 ], "observed_m": [ 0.4043976901806191, -0.17531428948698322, -0.027318168881918535 ] }, { "marker_id": 63, "link": "Board", "error_m": [ 4.725801655502959e-05, 8.649128375748383e-05, 0.00016914152514853342 ], "error_norm_m": 0.00019576240145723848, "predicted_m": [ 0.7773916324735332, -0.2361374923693764, -0.027233824484840234 ], "observed_m": [ 0.7773443744569781, -0.23622398365313388, -0.027402966009988768 ] }, { "marker_id": 64, "link": "Board", "error_m": [ 0.00014518099878982685, -0.00019503643868928888, -6.120716228158463e-07 ], "error_norm_m": 0.00024314010252914658, "predicted_m": [ -0.021278774327890618, -0.18822442850872592, -0.02735593563670134 ], "observed_m": [ -0.021423955326680445, -0.18802939207003663, -0.027355323565078523 ] }, { "marker_id": 66, "link": "Board", "error_m": [ -0.0001186664765544243, 0.00016218551757885002, -0.00016026341372418415 ], "error_norm_m": 0.00025704131292204804, "predicted_m": [ 0.20974274707888424, -0.3632224198748577, -0.02734789086615818 ], "observed_m": [ 0.20986141355543866, -0.36338460539243655, -0.027187627452433995 ] }, { "marker_id": 68, "link": "Board", "error_m": [ -0.00016958161888946943, -0.0002235718707464529, 0.00033998192408219927 ], "error_norm_m": 0.0004408287825867048, "predicted_m": [ 0.573718091498246, 0.1706507331677214, -0.02719817385933385 ], "observed_m": [ 0.5738876731171355, 0.17087430503846784, -0.02753815578341605 ] }, { "marker_id": 69, "link": "Board", "error_m": [ 0.00018059010402864638, 3.0791777882788196e-05, -7.836541172552905e-05 ], "error_norm_m": 0.00019925375031143571, "predicted_m": [ 0.007602035268499278, -0.28120417638637624, -0.027366965851743485 ], "observed_m": [ 0.007421445164470632, -0.281234968164259, -0.027288600440017956 ] }, { "marker_id": 71, "link": "Board", "error_m": [ -0.0001690308924547912, -3.907719659373976e-05, 2.0166391535479666e-05 ], "error_norm_m": 0.0001746572450408263, "predicted_m": [ 0.7497420497673496, -0.28399773178757926, -0.027246434251651772 ], "observed_m": [ 0.7499110806598044, -0.2839586545909855, -0.027266600643187252 ] }, { "marker_id": 72, "link": "Board", "error_m": [ 4.104467268839507e-05, -5.8445265070899977e-05, -2.7946864180079106e-05 ], "error_norm_m": 7.669120798895421e-05, "predicted_m": [ 0.4409778869829273, 0.194329580146526, -0.027215808646540184 ], "observed_m": [ 0.4409368423102389, 0.1943880254115969, -0.027187861782360104 ] }, { "marker_id": 73, "link": "Board", "error_m": [ -9.757090487746978e-05, 9.403203218910638e-05, -0.00015601605639981378 ], "error_norm_m": 0.00020664731890535445, "predicted_m": [ 0.22171668085738952, 0.3331176741537114, -0.027228065361854455 ], "observed_m": [ 0.221814251762267, 0.3330236421215223, -0.02707204930545464 ] }, { "marker_id": 75, "link": "Board", "error_m": [ 3.069506615535275e-05, 2.64472195354859e-06, -8.067143223433951e-05 ], "error_norm_m": 8.635427968104821e-05, "predicted_m": [ -0.025712109060917355, 0.19458552752328312, -0.027291858213414476 ], "observed_m": [ -0.025742804127072708, 0.19458288280132957, -0.027211186781180136 ] }, { "marker_id": 76, "link": "Board", "error_m": [ 0.0005151466298424223, 0.0005536495209004233, -0.0005481980317417444 ], "error_norm_m": 0.0009340368966142594, "predicted_m": [ 0.6851981234637727, 0.16681170128738482, -0.027180647111104635 ], "observed_m": [ 0.6846829768339303, 0.1662580517664844, -0.02663244907936289 ] }, { "marker_id": 79, "link": "Board", "error_m": [ -3.924505815539048e-05, 0.00014105953314505482, 0.00012972599277028332 ], "error_norm_m": 0.00019561901666493572, "predicted_m": [ 0.31229096755100305, -0.15910153228838284, -0.027296617954753345 ], "observed_m": [ 0.31233021260915844, -0.1592425918215279, -0.027426343947523628 ] }, { "marker_id": 82, "link": "Board", "error_m": [ 0.00012571552755333282, 0.0003193318097063913, -2.36640459273553e-05 ], "error_norm_m": 0.0003440017232922295, "predicted_m": [ 0.21914699336779028, 0.29724765235173695, -0.02723455625305528 ], "observed_m": [ 0.21902127784023695, 0.29692832054203055, -0.027210892207127926 ] }, { "marker_id": 83, "link": "Board", "error_m": [ -0.00013202442361058553, -0.00010640300333453201, 1.751434660392237e-06 ], "error_norm_m": 0.0001695733324307964, "predicted_m": [ 0.044146629998095155, 0.3392261320923713, -0.02725598380082015 ], "observed_m": [ 0.04427865442170574, 0.3393325350957058, -0.027257735235480543 ] }, { "marker_id": 84, "link": "Board", "error_m": [ 0.00023716692386471783, 2.0939294573196765e-05, 6.799433182237344e-05 ], "error_norm_m": 0.00024760822480815735, "predicted_m": [ 0.4074773290319253, 0.2584292883201036, -0.027210420349808025 ], "observed_m": [ 0.4072401621080606, 0.2584083490255304, -0.0272784146816304 ] }, { "marker_id": 85, "link": "Board", "error_m": [ 0.00022487306012830555, 0.00011419379864796575, 9.683172759022626e-05 ], "error_norm_m": 0.00027015643669775567, "predicted_m": [ 0.5045723033997463, -0.31273986036983914, -0.027291274032414586 ], "observed_m": [ 0.504347430339618, -0.3128540541684871, -0.027388105760004812 ] }, { "marker_id": 86, "link": "Board", "error_m": [ -0.0001254632917183085, -1.6983296780515023e-05, 0.0001481431279126942 ], "error_norm_m": 0.00019487394973696537, "predicted_m": [ 0.36287703701219276, 0.29201890054232005, -0.02721200644866062 ], "observed_m": [ 0.36300250030391107, 0.29203588383910056, -0.027360149576573314 ] }, { "marker_id": 92, "link": "Board", "error_m": [ -0.00012633179447563148, -1.7559610266504322e-05, -2.1443227859692382e-05 ], "error_norm_m": 0.00012933628349843444, "predicted_m": [ 0.6450811872578686, -0.1848286420534576, -0.027246712123549323 ], "observed_m": [ 0.6452075190523442, -0.18481108244319108, -0.02722526889568963 ] }, { "marker_id": 95, "link": "Board", "error_m": [ -0.00010287262343347536, -0.00020467534526941167, -3.4104357829526505e-05 ], "error_norm_m": 0.00023159853375227332, "predicted_m": [ 0.18603197069093566, -0.27406262704734385, -0.027336664311332276 ], "observed_m": [ 0.18613484331436914, -0.27385795170207444, -0.02730255995350275 ] }, { "marker_id": 96, "link": "Board", "error_m": [ -7.860649126412156e-05, 6.680922083057705e-07, -0.00013945098779214252 ], "error_norm_m": 0.00016008124441126603, "predicted_m": [ 0.3697612053016884, -0.18648103283993586, -0.027291882217872064 ], "observed_m": [ 0.3698398117929525, -0.18648170093214417, -0.02715243123007992 ] }, { "marker_id": 97, "link": "Board", "error_m": [ -0.00014768551798360896, -7.615625245599444e-05, -4.133033230501598e-06 ], "error_norm_m": 0.00016621633185073142, "predicted_m": [ 0.30434271480543235, -0.3596615984432015, -0.027331863767053908 ], "observed_m": [ 0.30449040032341596, -0.3595854421907455, -0.027327730733823406 ] }, { "marker_id": 102, "link": "Board", "error_m": [ 1.1665823164364042e-05, 1.5465608509346307e-05, -3.6753312999762006e-05 ], "error_norm_m": 4.154614895661272e-05, "predicted_m": [ 0.6496815196216839, -0.2229886015600459, -0.02725242158690576 ], "observed_m": [ 0.6496698537985195, -0.22300406716855525, -0.027215668273905997 ] }, { "marker_id": 103, "link": "Board", "error_m": [ -9.288132724631637e-05, 0.00014906444048246037, -0.00010019712251580631 ], "error_norm_m": 0.00020220438107972284, "predicted_m": [ 0.10570121944952869, -0.18770332585356062, -0.027335143586890806 ], "observed_m": [ 0.10579410077677501, -0.18785239029404308, -0.027234946464375 ] }, { "marker_id": 105, "link": "Board", "error_m": [ 7.869908302648998e-05, 6.223953691425477e-05, -3.8681953605311514e-05 ], "error_norm_m": 0.00010753417670319849, "predicted_m": [ 0.5248318980518775, -0.2662396851050163, -0.02728009941398969 ], "observed_m": [ 0.524753198968851, -0.26630192464193053, -0.027241417460384377 ] }, { "marker_id": 114, "link": "Arm2", "error_m": [ -0.012324679209726463, 0.446837569704663, 0.20383762587007623 ], "error_norm_m": 0.49128961838974516, "predicted_m": [ 0.26708842156016527, 0.2111891716107183, 0.42577822058598075 ], "observed_m": [ 0.27941310076989173, -0.2356483980939447, 0.22194059471590452 ] }, { "marker_id": 115, "link": "Arm2", "error_m": [ -0.06713353812325107, 0.47121788564748235, 0.24984641755363537 ], "error_norm_m": 0.537565289113253, "predicted_m": [ 0.2371509235031969, 0.2502182042329665, 0.4313217594057868 ], "observed_m": [ 0.30428446162644796, -0.2209996814145159, 0.18147534185215144 ] }, { "marker_id": 120, "link": "Arm2", "error_m": [ -0.012374319987403515, 0.3907218881884825, 0.11062887863322379 ], "error_norm_m": 0.40627018902741097, "predicted_m": [ 0.2670996358608789, 0.2210413437936469, 0.3564750130303527 ], "observed_m": [ 0.27947395584828244, -0.16968054439483563, 0.24584613439712893 ] }, { "marker_id": 205, "link": "Board", "error_m": [ -7.709153233903532e-05, -0.00012323223680174578, -9.146852129063353e-06 ], "error_norm_m": 0.00014564667332079035, "predicted_m": [ 0.7499858595489343, -0.0899924044016798, 0.0003864465731985602 ], "observed_m": [ 0.7500629510812733, -0.08986917216487805, 0.00039559342532762356 ] }, { "marker_id": 206, "link": "Board", "error_m": [ 1.3268355892437356e-05, -0.00025155458130986415, 0.00016647467924518202 ], "error_norm_m": 0.0003019430003756598, "predicted_m": [ 0.6499851639739229, -0.009993273925908406, 0.0003836835318289441 ], "observed_m": [ 0.6499718956180305, -0.009741719344598542, 0.0002172088525837621 ] }, { "marker_id": 208, "link": "Board", "error_m": [ -0.00041555690766315045, -0.0005967283625643305, 0.0004986515112266112 ], "error_norm_m": 0.0008817174217649611, "predicted_m": [ 0.3499858648810446, -0.08999587790186883, 0.00032122676726128384 ], "observed_m": [ 0.35040142178870776, -0.0893991495393045, -0.00017742474396532733 ] }, { "marker_id": 210, "link": "Board", "error_m": [ 7.330158369450723e-05, -9.175976654070273e-05, 9.585051762057745e-06 ], "error_norm_m": 0.00011783399401279938, "predicted_m": [ 0.019985259485501596, -0.019998744545058476, 0.00027926959871339593 ], "observed_m": [ 0.01991195790180709, -0.019906984778517774, 0.0002696845469513382 ] }, { "marker_id": 211, "link": "Board", "error_m": [ -6.638516875495659e-05, 3.114044648600857e-05, 2.921027279474491e-05 ], "error_norm_m": 7.893008345818115e-05, "predicted_m": [ 0.24998516930603326, -0.009996747426097444, 0.00031846372589166774 ], "observed_m": [ 0.2500515544747882, -0.010027887872583453, 0.00028925345309692283 ] }, { "marker_id": 214, "link": "Board", "error_m": [ -1.3655493271036434e-05, -0.00018081026116571926, 0.0001485519203191847 ], "error_norm_m": 0.00023440668947324932, "predicted_m": [ 0.34998516797300566, -0.009995879051050184, 0.00033476867737598684 ], "observed_m": [ 0.3499988234662767, -0.009815068789884465, 0.00018621675705680213 ] }, { "marker_id": 215, "link": "Board", "error_m": [ -0.00019510692681490305, -0.0005514924503236956, 0.00031475858935328834 ], "error_norm_m": 0.0006642918072856701, "predicted_m": [ 0.2499858662140722, -0.0899967462769161, 0.00030492181577696474 ], "observed_m": [ 0.2501809731408871, -0.08944525382659241, -9.836773576323602e-06 ] }, { "marker_id": 217, "link": "Board", "error_m": [ 2.6733506089171577e-05, 4.610700749592411e-05, -8.213383490965673e-05 ], "error_norm_m": 9.791069055530005e-05, "predicted_m": [ 0.6499858608819619, -0.08999327277672706, 0.0003701416217142411 ], "observed_m": [ 0.6499591273758727, -0.09003937978422298, 0.00045227545662389785 ] }, { "marker_id": 218, "link": "Arm2", "error_m": [ 0.040722254780084455, 0.39639329228456033, 0.11474777277955853 ], "error_norm_m": 0.41467215431040966, "predicted_m": [ 0.29300919366194894, 0.22777887780253558, 0.3574370161622126 ], "observed_m": [ 0.2522869388818645, -0.16861441448202474, 0.24268924338265405 ] }, { "marker_id": 219, "link": "Arm2", "error_m": [ 0.040719841217151, 0.48167722881902436, 0.2572031588106801 ], "error_norm_m": 0.5475623463439726, "predicted_m": [ 0.2929920518022866, 0.2127191288943447, 0.46337191914010123 ], "observed_m": [ 0.2522722105851356, -0.26895809992467967, 0.20616876032942108 ] }, { "marker_id": 231, "link": "Ellbow", "error_m": [ 0.0020277901486825956, 0.3370176897836189, -0.05489479063023628 ], "error_norm_m": 0.34146518592429326, "predicted_m": [ 0.2718623929226249, 0.29912572000087795, 0.2294513703985424 ], "observed_m": [ 0.2698346027739423, -0.037891969782740946, 0.2843461610287787 ] }, { "marker_id": 242, "link": "Arm1", "error_m": [ 0.0021077897882012253, 0.32477005141244875, 0.04390474013335613 ], "error_norm_m": 0.32773107157914305, "predicted_m": [ 0.18185571600772957, 0.24461772034358367, 0.27329724945599115 ], "observed_m": [ 0.17974792621952834, -0.08015233106886506, 0.22939250932263502 ] }, { "marker_id": 243, "link": "Arm1", "error_m": [ 0.0017023209074582268, 0.369293376191991, -0.0024780470761002205 ], "error_norm_m": 0.3693056137036949, "predicted_m": [ 0.1818546873885789, 0.2939782236414995, 0.27697702025259974 ], "observed_m": [ 0.18015236648112068, -0.07531515255049145, 0.27945506732869996 ] }, { "marker_id": 244, "link": "Ellbow", "error_m": [ 0.0013996054499733623, 0.3241166242969787, -0.0018607729760748981 ], "error_norm_m": 0.3241249874927154, "predicted_m": [ 0.30685920815732304, 0.27113894291898666, 0.25047726471922127 ], "observed_m": [ 0.3054596027073497, -0.052977681377992025, 0.25233803769529617 ] }, { "marker_id": 246, "link": "Ellbow", "error_m": [ 0.001889912995737708, 0.3707629926898824, -0.030022295683641786 ], "error_norm_m": 0.3719813258183874, "predicted_m": [ 0.27185810452219433, 0.3057902432178893, 0.2553976439633128 ], "observed_m": [ 0.2699681915264566, -0.0649727494719931, 0.2854199396469546 ] }, { "marker_id": 247, "link": "Ellbow", "error_m": [ 0.0017758584204611016, 0.37062702250626095, -0.030012647997750497 ], "error_norm_m": 0.37184446012388417, "predicted_m": [ 0.23435810502222926, 0.30578991757724655, 0.2553915296065062 ], "observed_m": [ 0.23258224660176816, -0.06483710492901439, 0.2854041776042567 ] } ], "stage_idx": 2, "num_active_links": 5 } ], "markers": [ { "marker_id": 40, "link": "FingerA", "observed_position_m": [ 0.2879223432809349, -0.34485691444006433, 0.2057162799788078 ], "predicted_position_m": [ 0.26786839257078593, 0.2047940997446629, 0.5531461117555679 ], "error_m": [ -0.020053950710148982, 0.5496510141847273, 0.3474298317767601 ], "error_norm_m": 0.6505581344828548 }, { "marker_id": 42, "link": "FingerA", "observed_position_m": [ 0.2925693092125785, -0.36418780882283647, 0.1933358709120608 ], "predicted_position_m": [ 0.2826330253636039, 0.21128288202710213, 0.5702318169789724 ], "error_m": [ -0.009936283848974603, 0.5754706908499386, 0.37689594606691157 ], "error_norm_m": 0.6879795054547085 }, { "marker_id": 44, "link": "FingerB", "observed_position_m": [ 0.31905678744816834, -0.2910934617578911, 0.1841447411667434 ], "predicted_position_m": [ 0.2479402324735828, 0.2196051420447325, 0.5332292480185289 ], "error_m": [ -0.07111655497458555, 0.5106986038026236, 0.3490845068517855 ], "error_norm_m": 0.6226801917849616 }, { "marker_id": 46, "link": "Board", "observed_position_m": [ 0.5365995419709636, 0.1851695277945016, -0.026769835512247448 ], "predicted_position_m": [ 0.5366979630637456, 0.18545041148268035, -0.027201704699002124 ], "error_m": [ 9.842109278201949e-05, 0.00028088368817874576, -0.0004318691867546756 ], "error_norm_m": 0.0005244934244177391 }, { "marker_id": 47, "link": "Board", "observed_position_m": [ 0.34413074528620285, -0.28648149988725796, -0.027372202103467847 ], "predicted_position_m": [ 0.34422207721275994, -0.286531253185728, -0.02731298235381836 ], "error_m": [ 9.133192655708111e-05, -4.97532984700122e-05, 5.921974964948756e-05 ], "error_norm_m": 0.0001196824559650334 }, { "marker_id": 48, "link": "Board", "observed_position_m": [ 0.688760321819272, -0.3206550111150593, -0.02724405627755046 ], "predicted_position_m": [ 0.6886823703749727, -0.3207082614900525, -0.027262604099031983 ], "error_m": [ -7.795144429934009e-05, -5.325037499320784e-05, -1.8547821481522397e-05 ], "error_norm_m": 9.620837690648772e-05 }, { "marker_id": 51, "link": "Board", "observed_position_m": [ 0.16759537409761163, -0.1721632120967058, -0.027230384245605883 ], "predicted_position_m": [ 0.16779108246344376, -0.1720727869040151, -0.027322374091825533 ], "error_m": [ 0.00019570836583213125, 9.042519269070182e-05, -9.198984621965056e-05 ], "error_norm_m": 0.00023439413759168302 }, { "marker_id": 52, "link": "Board", "observed_position_m": [ 0.09474272177307877, 0.20891726730715046, -0.027363109242815088 ], "predicted_position_m": [ 0.09466776667856919, 0.2086665726709091, -0.02726984693663747 ], "error_m": [ -7.495509450958227e-05, -0.0002506946362413609, 9.326230617761819e-05 ], "error_norm_m": 0.0002777839530763008 }, { "marker_id": 53, "link": "Board", "observed_position_m": [ 0.4862558269111045, 0.21208894455062027, -0.027206146132574622 ], "predicted_position_m": [ 0.48623773027219824, 0.21224997291565578, -0.027205395637632687 ], "error_m": [ -1.8096638906284213e-05, 0.00016102836503550932, 7.50494941935409e-07 ], "error_norm_m": 0.0001620437778144275 }, { "marker_id": 54, "link": "Board", "observed_position_m": [ 0.3424416557415865, -0.3306935751374617, -0.02718622773196584 ], "predicted_position_m": [ 0.34226246097387614, -0.330581269573111, -0.02732075844512436 ], "error_m": [ -0.0001791947677103889, 0.00011230556435071204, -0.00013453071315852258 ], "error_norm_m": 0.00025064280827873927 }, { "marker_id": 55, "link": "Board", "observed_position_m": [ 0.2837406773943893, -0.2625200070618275, -0.0274403684698421 ], "predicted_position_m": [ 0.28371186929541725, -0.2625717789836489, -0.02731879267788217 ], "error_m": [ -2.880809897204406e-05, -5.1771921821430755e-05, 0.00012157579195993043 ], "error_norm_m": 0.00013524389689058692 }, { "marker_id": 56, "link": "Board", "observed_position_m": [ 0.49854506213306005, 0.1685279385780046, -0.027101709291083634 ], "predicted_position_m": [ 0.49866810966004366, 0.168680081480547, -0.027210744194959405 ], "error_m": [ 0.00012304752698361066, 0.00015214290254239593, -0.00010903490387577028 ], "error_norm_m": 0.00022400171194436404 }, { "marker_id": 57, "link": "Board", "observed_position_m": [ 0.6030651307818345, -0.36410138257438374, -0.027211501691154338 ], "predicted_position_m": [ 0.6028527489819269, -0.3640390061939302, -0.027283933275956847 ], "error_m": [ -0.00021238179990767936, 6.237638045353266e-05, -7.243158480250977e-05 ], "error_norm_m": 0.000232901645008172 }, { "marker_id": 58, "link": "Board", "observed_position_m": [ 0.05002314000388922, -0.2182714602565383, -0.02716465082433133 ], "predicted_position_m": [ 0.05008148501601344, -0.21810380840707302, -0.02734935832674997 ], "error_m": [ 5.834501212421961e-05, 0.0001676518494652668, -0.00018470750241864065 ], "error_norm_m": 0.0002561799065473948 }, { "marker_id": 59, "link": "Board", "observed_position_m": [ 0.6261318195355464, -0.2787188684011724, -0.02731954114264704 ], "predicted_position_m": [ 0.6262020055924684, -0.27873880465367123, -0.02726568700812546 ], "error_m": [ 7.018605692199475e-05, -1.9936252498853335e-05, 5.385413452158039e-05 ], "error_norm_m": 9.068519479509321e-05 }, { "marker_id": 61, "link": "Board", "observed_position_m": [ -0.02251068911087289, 0.3357570397270075, -0.0273487660745711 ], "predicted_position_m": [ -0.022433339582896925, 0.3358355539769614, -0.02726741347595952 ], "error_m": [ 7.734952797596589e-05, 7.851424995392042e-05, 8.135259861158026e-05 ], "error_norm_m": 0.00013698789079618793 }, { "marker_id": 62, "link": "Board", "observed_position_m": [ 0.4043976901806191, -0.17531428948698322, -0.027318168881918535 ], "predicted_position_m": [ 0.4046911056137798, -0.17509072968014652, -0.027284258868866013 ], "error_m": [ 0.0002934154331606931, 0.00022355980683669285, 3.391001305252245e-05 ], "error_norm_m": 0.00037043419474308635 }, { "marker_id": 63, "link": "Board", "observed_position_m": [ 0.7773443744569781, -0.23622398365313388, -0.027402966009988768 ], "predicted_position_m": [ 0.7773916324735332, -0.2361374923693764, -0.027233824484840234 ], "error_m": [ 4.725801655502959e-05, 8.649128375748383e-05, 0.00016914152514853342 ], "error_norm_m": 0.00019576240145723848 }, { "marker_id": 64, "link": "Board", "observed_position_m": [ -0.021423955326680445, -0.18802939207003663, -0.027355323565078523 ], "predicted_position_m": [ -0.021278774327890618, -0.18822442850872592, -0.02735593563670134 ], "error_m": [ 0.00014518099878982685, -0.00019503643868928888, -6.120716228158463e-07 ], "error_norm_m": 0.00024314010252914658 }, { "marker_id": 66, "link": "Board", "observed_position_m": [ 0.20986141355543866, -0.36338460539243655, -0.027187627452433995 ], "predicted_position_m": [ 0.20974274707888424, -0.3632224198748577, -0.02734789086615818 ], "error_m": [ -0.0001186664765544243, 0.00016218551757885002, -0.00016026341372418415 ], "error_norm_m": 0.00025704131292204804 }, { "marker_id": 68, "link": "Board", "observed_position_m": [ 0.5738876731171355, 0.17087430503846784, -0.02753815578341605 ], "predicted_position_m": [ 0.573718091498246, 0.1706507331677214, -0.02719817385933385 ], "error_m": [ -0.00016958161888946943, -0.0002235718707464529, 0.00033998192408219927 ], "error_norm_m": 0.0004408287825867048 }, { "marker_id": 69, "link": "Board", "observed_position_m": [ 0.007421445164470632, -0.281234968164259, -0.027288600440017956 ], "predicted_position_m": [ 0.007602035268499278, -0.28120417638637624, -0.027366965851743485 ], "error_m": [ 0.00018059010402864638, 3.0791777882788196e-05, -7.836541172552905e-05 ], "error_norm_m": 0.00019925375031143571 }, { "marker_id": 71, "link": "Board", "observed_position_m": [ 0.7499110806598044, -0.2839586545909855, -0.027266600643187252 ], "predicted_position_m": [ 0.7497420497673496, -0.28399773178757926, -0.027246434251651772 ], "error_m": [ -0.0001690308924547912, -3.907719659373976e-05, 2.0166391535479666e-05 ], "error_norm_m": 0.0001746572450408263 }, { "marker_id": 72, "link": "Board", "observed_position_m": [ 0.4409368423102389, 0.1943880254115969, -0.027187861782360104 ], "predicted_position_m": [ 0.4409778869829273, 0.194329580146526, -0.027215808646540184 ], "error_m": [ 4.104467268839507e-05, -5.8445265070899977e-05, -2.7946864180079106e-05 ], "error_norm_m": 7.669120798895421e-05 }, { "marker_id": 73, "link": "Board", "observed_position_m": [ 0.221814251762267, 0.3330236421215223, -0.02707204930545464 ], "predicted_position_m": [ 0.22171668085738952, 0.3331176741537114, -0.027228065361854455 ], "error_m": [ -9.757090487746978e-05, 9.403203218910638e-05, -0.00015601605639981378 ], "error_norm_m": 0.00020664731890535445 }, { "marker_id": 75, "link": "Board", "observed_position_m": [ -0.025742804127072708, 0.19458288280132957, -0.027211186781180136 ], "predicted_position_m": [ -0.025712109060917355, 0.19458552752328312, -0.027291858213414476 ], "error_m": [ 3.069506615535275e-05, 2.64472195354859e-06, -8.067143223433951e-05 ], "error_norm_m": 8.635427968104821e-05 }, { "marker_id": 76, "link": "Board", "observed_position_m": [ 0.6846829768339303, 0.1662580517664844, -0.02663244907936289 ], "predicted_position_m": [ 0.6851981234637727, 0.16681170128738482, -0.027180647111104635 ], "error_m": [ 0.0005151466298424223, 0.0005536495209004233, -0.0005481980317417444 ], "error_norm_m": 0.0009340368966142594 }, { "marker_id": 79, "link": "Board", "observed_position_m": [ 0.31233021260915844, -0.1592425918215279, -0.027426343947523628 ], "predicted_position_m": [ 0.31229096755100305, -0.15910153228838284, -0.027296617954753345 ], "error_m": [ -3.924505815539048e-05, 0.00014105953314505482, 0.00012972599277028332 ], "error_norm_m": 0.00019561901666493572 }, { "marker_id": 82, "link": "Board", "observed_position_m": [ 0.21902127784023695, 0.29692832054203055, -0.027210892207127926 ], "predicted_position_m": [ 0.21914699336779028, 0.29724765235173695, -0.02723455625305528 ], "error_m": [ 0.00012571552755333282, 0.0003193318097063913, -2.36640459273553e-05 ], "error_norm_m": 0.0003440017232922295 }, { "marker_id": 83, "link": "Board", "observed_position_m": [ 0.04427865442170574, 0.3393325350957058, -0.027257735235480543 ], "predicted_position_m": [ 0.044146629998095155, 0.3392261320923713, -0.02725598380082015 ], "error_m": [ -0.00013202442361058553, -0.00010640300333453201, 1.751434660392237e-06 ], "error_norm_m": 0.0001695733324307964 }, { "marker_id": 84, "link": "Board", "observed_position_m": [ 0.4072401621080606, 0.2584083490255304, -0.0272784146816304 ], "predicted_position_m": [ 0.4074773290319253, 0.2584292883201036, -0.027210420349808025 ], "error_m": [ 0.00023716692386471783, 2.0939294573196765e-05, 6.799433182237344e-05 ], "error_norm_m": 0.00024760822480815735 }, { "marker_id": 85, "link": "Board", "observed_position_m": [ 0.504347430339618, -0.3128540541684871, -0.027388105760004812 ], "predicted_position_m": [ 0.5045723033997463, -0.31273986036983914, -0.027291274032414586 ], "error_m": [ 0.00022487306012830555, 0.00011419379864796575, 9.683172759022626e-05 ], "error_norm_m": 0.00027015643669775567 }, { "marker_id": 86, "link": "Board", "observed_position_m": [ 0.36300250030391107, 0.29203588383910056, -0.027360149576573314 ], "predicted_position_m": [ 0.36287703701219276, 0.29201890054232005, -0.02721200644866062 ], "error_m": [ -0.0001254632917183085, -1.6983296780515023e-05, 0.0001481431279126942 ], "error_norm_m": 0.00019487394973696537 }, { "marker_id": 92, "link": "Board", "observed_position_m": [ 0.6452075190523442, -0.18481108244319108, -0.02722526889568963 ], "predicted_position_m": [ 0.6450811872578686, -0.1848286420534576, -0.027246712123549323 ], "error_m": [ -0.00012633179447563148, -1.7559610266504322e-05, -2.1443227859692382e-05 ], "error_norm_m": 0.00012933628349843444 }, { "marker_id": 95, "link": "Board", "observed_position_m": [ 0.18613484331436914, -0.27385795170207444, -0.02730255995350275 ], "predicted_position_m": [ 0.18603197069093566, -0.27406262704734385, -0.027336664311332276 ], "error_m": [ -0.00010287262343347536, -0.00020467534526941167, -3.4104357829526505e-05 ], "error_norm_m": 0.00023159853375227332 }, { "marker_id": 96, "link": "Board", "observed_position_m": [ 0.3698398117929525, -0.18648170093214417, -0.02715243123007992 ], "predicted_position_m": [ 0.3697612053016884, -0.18648103283993586, -0.027291882217872064 ], "error_m": [ -7.860649126412156e-05, 6.680922083057705e-07, -0.00013945098779214252 ], "error_norm_m": 0.00016008124441126603 }, { "marker_id": 97, "link": "Board", "observed_position_m": [ 0.30449040032341596, -0.3595854421907455, -0.027327730733823406 ], "predicted_position_m": [ 0.30434271480543235, -0.3596615984432015, -0.027331863767053908 ], "error_m": [ -0.00014768551798360896, -7.615625245599444e-05, -4.133033230501598e-06 ], "error_norm_m": 0.00016621633185073142 }, { "marker_id": 102, "link": "Board", "observed_position_m": [ 0.6496698537985195, -0.22300406716855525, -0.027215668273905997 ], "predicted_position_m": [ 0.6496815196216839, -0.2229886015600459, -0.02725242158690576 ], "error_m": [ 1.1665823164364042e-05, 1.5465608509346307e-05, -3.6753312999762006e-05 ], "error_norm_m": 4.154614895661272e-05 }, { "marker_id": 103, "link": "Board", "observed_position_m": [ 0.10579410077677501, -0.18785239029404308, -0.027234946464375 ], "predicted_position_m": [ 0.10570121944952869, -0.18770332585356062, -0.027335143586890806 ], "error_m": [ -9.288132724631637e-05, 0.00014906444048246037, -0.00010019712251580631 ], "error_norm_m": 0.00020220438107972284 }, { "marker_id": 105, "link": "Board", "observed_position_m": [ 0.524753198968851, -0.26630192464193053, -0.027241417460384377 ], "predicted_position_m": [ 0.5248318980518775, -0.2662396851050163, -0.02728009941398969 ], "error_m": [ 7.869908302648998e-05, 6.223953691425477e-05, -3.8681953605311514e-05 ], "error_norm_m": 0.00010753417670319849 }, { "marker_id": 114, "link": "Arm2", "observed_position_m": [ 0.27941310076989173, -0.2356483980939447, 0.22194059471590452 ], "predicted_position_m": [ 0.26708842156016527, 0.2111891716107183, 0.42577822058598075 ], "error_m": [ -0.012324679209726463, 0.446837569704663, 0.20383762587007623 ], "error_norm_m": 0.49128961838974516 }, { "marker_id": 115, "link": "Arm2", "observed_position_m": [ 0.30428446162644796, -0.2209996814145159, 0.18147534185215144 ], "predicted_position_m": [ 0.2371509235031969, 0.2502182042329665, 0.4313217594057868 ], "error_m": [ -0.06713353812325107, 0.47121788564748235, 0.24984641755363537 ], "error_norm_m": 0.537565289113253 }, { "marker_id": 120, "link": "Arm2", "observed_position_m": [ 0.27947395584828244, -0.16968054439483563, 0.24584613439712893 ], "predicted_position_m": [ 0.2670996358608789, 0.2210413437936469, 0.3564750130303527 ], "error_m": [ -0.012374319987403515, 0.3907218881884825, 0.11062887863322379 ], "error_norm_m": 0.40627018902741097 }, { "marker_id": 205, "link": "Board", "observed_position_m": [ 0.7500629510812733, -0.08986917216487805, 0.00039559342532762356 ], "predicted_position_m": [ 0.7499858595489343, -0.0899924044016798, 0.0003864465731985602 ], "error_m": [ -7.709153233903532e-05, -0.00012323223680174578, -9.146852129063353e-06 ], "error_norm_m": 0.00014564667332079035 }, { "marker_id": 206, "link": "Board", "observed_position_m": [ 0.6499718956180305, -0.009741719344598542, 0.0002172088525837621 ], "predicted_position_m": [ 0.6499851639739229, -0.009993273925908406, 0.0003836835318289441 ], "error_m": [ 1.3268355892437356e-05, -0.00025155458130986415, 0.00016647467924518202 ], "error_norm_m": 0.0003019430003756598 }, { "marker_id": 208, "link": "Board", "observed_position_m": [ 0.35040142178870776, -0.0893991495393045, -0.00017742474396532733 ], "predicted_position_m": [ 0.3499858648810446, -0.08999587790186883, 0.00032122676726128384 ], "error_m": [ -0.00041555690766315045, -0.0005967283625643305, 0.0004986515112266112 ], "error_norm_m": 0.0008817174217649611 }, { "marker_id": 210, "link": "Board", "observed_position_m": [ 0.01991195790180709, -0.019906984778517774, 0.0002696845469513382 ], "predicted_position_m": [ 0.019985259485501596, -0.019998744545058476, 0.00027926959871339593 ], "error_m": [ 7.330158369450723e-05, -9.175976654070273e-05, 9.585051762057745e-06 ], "error_norm_m": 0.00011783399401279938 }, { "marker_id": 211, "link": "Board", "observed_position_m": [ 0.2500515544747882, -0.010027887872583453, 0.00028925345309692283 ], "predicted_position_m": [ 0.24998516930603326, -0.009996747426097444, 0.00031846372589166774 ], "error_m": [ -6.638516875495659e-05, 3.114044648600857e-05, 2.921027279474491e-05 ], "error_norm_m": 7.893008345818115e-05 }, { "marker_id": 214, "link": "Board", "observed_position_m": [ 0.3499988234662767, -0.009815068789884465, 0.00018621675705680213 ], "predicted_position_m": [ 0.34998516797300566, -0.009995879051050184, 0.00033476867737598684 ], "error_m": [ -1.3655493271036434e-05, -0.00018081026116571926, 0.0001485519203191847 ], "error_norm_m": 0.00023440668947324932 }, { "marker_id": 215, "link": "Board", "observed_position_m": [ 0.2501809731408871, -0.08944525382659241, -9.836773576323602e-06 ], "predicted_position_m": [ 0.2499858662140722, -0.0899967462769161, 0.00030492181577696474 ], "error_m": [ -0.00019510692681490305, -0.0005514924503236956, 0.00031475858935328834 ], "error_norm_m": 0.0006642918072856701 }, { "marker_id": 217, "link": "Board", "observed_position_m": [ 0.6499591273758727, -0.09003937978422298, 0.00045227545662389785 ], "predicted_position_m": [ 0.6499858608819619, -0.08999327277672706, 0.0003701416217142411 ], "error_m": [ 2.6733506089171577e-05, 4.610700749592411e-05, -8.213383490965673e-05 ], "error_norm_m": 9.791069055530005e-05 }, { "marker_id": 218, "link": "Arm2", "observed_position_m": [ 0.2522869388818645, -0.16861441448202474, 0.24268924338265405 ], "predicted_position_m": [ 0.29300919366194894, 0.22777887780253558, 0.3574370161622126 ], "error_m": [ 0.040722254780084455, 0.39639329228456033, 0.11474777277955853 ], "error_norm_m": 0.41467215431040966 }, { "marker_id": 219, "link": "Arm2", "observed_position_m": [ 0.2522722105851356, -0.26895809992467967, 0.20616876032942108 ], "predicted_position_m": [ 0.2929920518022866, 0.2127191288943447, 0.46337191914010123 ], "error_m": [ 0.040719841217151, 0.48167722881902436, 0.2572031588106801 ], "error_norm_m": 0.5475623463439726 }, { "marker_id": 231, "link": "Ellbow", "observed_position_m": [ 0.2698346027739423, -0.037891969782740946, 0.2843461610287787 ], "predicted_position_m": [ 0.2718623929226249, 0.29912572000087795, 0.2294513703985424 ], "error_m": [ 0.0020277901486825956, 0.3370176897836189, -0.05489479063023628 ], "error_norm_m": 0.34146518592429326 }, { "marker_id": 242, "link": "Arm1", "observed_position_m": [ 0.17974792621952834, -0.08015233106886506, 0.22939250932263502 ], "predicted_position_m": [ 0.18185571600772957, 0.24461772034358367, 0.27329724945599115 ], "error_m": [ 0.0021077897882012253, 0.32477005141244875, 0.04390474013335613 ], "error_norm_m": 0.32773107157914305 }, { "marker_id": 243, "link": "Arm1", "observed_position_m": [ 0.18015236648112068, -0.07531515255049145, 0.27945506732869996 ], "predicted_position_m": [ 0.1818546873885789, 0.2939782236414995, 0.27697702025259974 ], "error_m": [ 0.0017023209074582268, 0.369293376191991, -0.0024780470761002205 ], "error_norm_m": 0.3693056137036949 }, { "marker_id": 244, "link": "Ellbow", "observed_position_m": [ 0.3054596027073497, -0.052977681377992025, 0.25233803769529617 ], "predicted_position_m": [ 0.30685920815732304, 0.27113894291898666, 0.25047726471922127 ], "error_m": [ 0.0013996054499733623, 0.3241166242969787, -0.0018607729760748981 ], "error_norm_m": 0.3241249874927154 }, { "marker_id": 246, "link": "Ellbow", "observed_position_m": [ 0.2699681915264566, -0.0649727494719931, 0.2854199396469546 ], "predicted_position_m": [ 0.27185810452219433, 0.3057902432178893, 0.2553976439633128 ], "error_m": [ 0.001889912995737708, 0.3707629926898824, -0.030022295683641786 ], "error_norm_m": 0.3719813258183874 }, { "marker_id": 247, "link": "Ellbow", "observed_position_m": [ 0.23258224660176816, -0.06483710492901439, 0.2854041776042567 ], "predicted_position_m": [ 0.23435810502222926, 0.30578991757724655, 0.2553915296065062 ], "error_m": [ 0.0017758584204611016, 0.37062702250626095, -0.030012647997750497 ], "error_norm_m": 0.37184446012388417 } ] }