{ "schema_version": "1.0", "method": "deterministic_geometric_sequential_prefix", "created_utc": "2026-06-01T20:36:00Z", "root_pose": { "translation_m": [ 2.476031418213731e-05, 3.565669679959915e-05, 6.894329895056756e-05 ], "rotation_matrix": [ [ 0.9999999606790064, 3.606787415001507e-05, 0.00027810266691973836 ], [ -3.6056041840844545e-05, 0.9999999984446684, -4.2551446373958805e-05 ], [ -0.0002781042012274209, 4.254141741937301e-05, 0.9999999604241396 ] ], "euler_xyz_deg": [ 0.0024374437676279235, 0.015934197200585167, -0.002065859103763901 ] }, "movements": { "x": { "value_m": 0.06216081924186751, "value_mm": 62.160819241867515, "joint_type": "linear", "link": "Base" }, "y": { "value_rad": -0.431100871926823, "value_deg": -24.700260505816793, "joint_type": "revolute", "link": "Arm1" }, "z": { "value_rad": 1.19429973016309, "value_deg": 68.42833401195811, "joint_type": "revolute", "link": "Ellbow" }, "a": { "value_rad": 1.2392937925732568, "value_deg": 71.0063038912089, "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": [ 2.476031418213731e-05, 3.565669679959915e-05, 6.894329895056756e-05 ], "rotation_matrix": [ [ 0.9999999606790064, 3.606787415001507e-05, 0.00027810266691973836 ], [ -3.6056041840844545e-05, 0.9999999984446684, -4.2551446373958805e-05 ], [ -0.0002781042012274209, 4.254141741937301e-05, 0.9999999604241396 ] ] }, "Base": { "translation_m": [ 0.06219002675443303, 3.27346005581721e-05, 0.016051655480753917 ], "rotation_matrix": [ [ 0.9999999606790064, 3.606787415001507e-05, 0.00027810266691973836 ], [ -3.6056041840844545e-05, 0.9999999984446684, -4.2551446373958805e-05 ], [ -0.0002781042012274209, 4.254141741937301e-05, 0.9999999604241396 ] ] }, "Arm1": { "translation_m": [ 0.17220643237954333, 0.10802685345289303, 0.06102565671078647 ], "rotation_matrix": [ [ 0.9999999606788235, 0.00014897898648459233, 0.00023758629270134347 ], [ -3.6056041840837945e-05, 0.9084884951705214, -0.41790986210236114 ], [ -0.00027810420122737, 0.41790983710330887, 0.9084884648194437 ] ] }, "Ellbow": { "translation_m": [ 0.1721691876329222, -0.11909527033973732, -0.04345180256504075 ], "rotation_matrix": [ [ 0.9999999606775587, -0.0001661710565516245, 0.00022589635866459995 ], [ -3.605604184079234e-05, 0.7226579559419639, 0.6912058140754214 ], [ -0.0002781042012270183, -0.6912057950414505, 0.7226579215348645 ] ] }, "Arm2": { "translation_m": [ 0.26216918409390244, -0.119098515383503, -0.04347683194315118 ], "rotation_matrix": [ [ 0.32567770757070896, -0.00016617105655140034, -0.9454808317327134 ], [ 0.6535609569959933, 0.7226579559409891, 0.22499678709112975 ], [ 0.6832218572894281, -0.6912057950405182, 0.23546218936399882 ] ] }, "Hand": { "translation_m": [ 0.2622107268580403, -0.29976300436875025, 0.12932461681697835 ], "rotation_matrix": [ [ 0.32567770757070896, -0.00016617105655140034, -0.9454808317327134 ], [ 0.6535609569959933, 0.7226579559409891, 0.22499678709112975 ], [ 0.6832218572894281, -0.6912057950405182, 0.23546218936399882 ] ] }, "Palm": { "translation_m": [ 0.2622107268580403, -0.29976300436875025, 0.12932461681697835 ], "rotation_matrix": [ [ 0.32567770757070896, -0.00016617105655140034, -0.9454808317327134 ], [ 0.6535609569959933, 0.7226579559409891, 0.22499678709112975 ], [ 0.6832218572894281, -0.6912057950405182, 0.23546218936399882 ] ] }, "FingerA": { "translation_m": [ 0.26351925367530243, -0.3224417889987009, 0.1562497070725542 ], "rotation_matrix": [ [ 0.32567770757070896, -0.00016617105655140034, -0.9454808317327134 ], [ 0.6535609569959933, 0.7226579559409891, 0.22499678709112975 ], [ 0.6832218572894281, -0.6912057950405182, 0.23546218936399882 ] ] }, "FingerB": { "translation_m": [ 0.2609138320147368, -0.32767027665466886, 0.15078393221423878 ], "rotation_matrix": [ [ 0.32567770757070896, -0.00016617105655140034, -0.9454808317327134 ], [ 0.6535609569959933, 0.7226579559409891, 0.22499678709112975 ], [ 0.6832218572894281, -0.6912057950405182, 0.23546218936399882 ] ] } }, "stage_reports": [ { "method": "deterministic_geometric_prefix", "active_links": [ "Board", "Base", "Arm1" ], "active_observations": 43, "joint_updates": [ { "pass": 0, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.0, "new": 0.07992154631184716, "info": { "reason": "weighted_projection", "used_markers": 3, "axis_world": [ 0.9999999606780068, -3.60560418408085e-05, -0.00027810420122714285 ], "per_marker": [ { "marker_id": 198, "q_i": 0.07998200466262717, "weight": 1.0 }, { "marker_id": 229, "q_i": 0.07987630838668139, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.07990632588623292, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 0.0, "new": -0.3485107912151748, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 3, "axis_world": [ -0.9999999606780068, 3.60560418408085e-05, 0.00027810420122714285 ], "axis_id": 0, "theta_rad": -0.34851079121517486, "theta_alt_rad": 2.7930818623746188, "score_theta": 0.08613872645145106, "score_theta_alt": 0.8009164835223365, "best_score": 0.08613872645145106, "per_marker": [ { "marker_id": 198, "weight": 1.0 }, { "marker_id": 229, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 } ] } } ] }, { "pass": 1, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.07992154631184716, "new": 0.07992154631184717, "info": { "reason": "weighted_projection", "used_markers": 3, "axis_world": [ 0.9999999606780068, -3.60560418408085e-05, -0.00027810420122714285 ], "per_marker": [ { "marker_id": 198, "q_i": 0.07998200466262718, "weight": 1.0 }, { "marker_id": 229, "q_i": 0.0798763083866814, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.07990632588623292, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": -0.3485107912151748, "new": -0.3485107912151748, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 3, "axis_world": [ -0.9999999606780068, 3.60560418408085e-05, 0.00027810420122714285 ], "axis_id": 0, "theta_rad": -0.34851079121517486, "theta_alt_rad": 2.7930818623746188, "score_theta": 0.08613872645145106, "score_theta_alt": 0.8009164835223365, "best_score": 0.08613872645145106, "per_marker": [ { "marker_id": 198, "weight": 1.0 }, { "marker_id": 229, "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, 207, 217, 46, 47, 51, 53, 54, 55, 56, 58, 60, 61, 62, 63, 64, 66, 68, 69, 72, 75, 79, 82, 83, 84, 85, 86, 92, 95, 96, 97, 102, 103, 105 ] }, "marker_stats": { "num_markers_used": 43, "mean_error_m": 0.011412122195382832, "rms_error_m": 0.04316814885406072, "median_error_m": 0.00026914403510449496, "worst_error_m": 0.19443851692557615 }, "marker_reports": [ { "marker_id": 46, "link": "Board", "error_m": [ 0.00022749558975043715, 0.00016672854606300525, -0.0001424493757194202 ], "error_norm_m": 0.0003159817654090745, "predicted_m": [ 0.5367338354339872, 0.1854574664246485, -0.027372428046022967 ], "observed_m": [ 0.5365063398442368, 0.1852907378785855, -0.027229978670303547 ] }, { "marker_id": 47, "link": "Board", "error_m": [ -0.00022722184711798654, 3.696615747461607e-05, -7.059070798796571e-05 ], "error_norm_m": 0.0002407889379942318, "predicted_m": [ 0.34423681968725073, -0.28651559277433253, -0.02733897724756431 ], "observed_m": [ 0.3444640415343687, -0.28655255893180714, -0.027268386539576344 ] }, { "marker_id": 51, "link": "Board", "error_m": [ 0.0001257692992016335, -0.00018153626347547358, 0.0001235006227337937 ], "error_norm_m": 0.00025303307173952854, "predicted_m": [ 0.16781095495352877, -0.17204923158489382, -0.027285042032703932 ], "observed_m": [ 0.16768518565432713, -0.17186769532141835, -0.027408542655437726 ] }, { "marker_id": 53, "link": "Board", "error_m": [ 7.130234272401115e-05, 0.00014098667310161184, -0.00010564574252875172 ], "error_norm_m": 0.00019005864617176565, "predicted_m": [ 0.4862748040371518, 0.21225928577083694, -0.027357254798042192 ], "observed_m": [ 0.4862035016944278, 0.21211829909773533, -0.02725160905551344 ] }, { "marker_id": 54, "link": "Board", "error_m": [ -0.00010248746565777456, 3.10086354153305e-05, -0.0001591470338178705 ], "error_norm_m": 0.00019181500061335354, "predicted_m": [ 0.3422752309744635, -0.33056552203597817, -0.027340306112767224 ], "observed_m": [ 0.34237771844012127, -0.3305965306713935, -0.027181159078949354 ] }, { "marker_id": 55, "link": "Board", "error_m": [ -4.3662178850600863e-05, 0.00012306782770954428, -5.566703032713893e-05 ], "error_norm_m": 0.0001419538458252207, "predicted_m": [ 0.2837276862528287, -0.26255341106050645, -0.02732112986998667 ], "observed_m": [ 0.2837713484316793, -0.262676478888216, -0.02726546283965953 ] }, { "marker_id": 56, "link": "Board", "error_m": [ 4.6504400113001054e-06, -0.00010341992581558435, 5.3917290527786405e-05 ], "error_norm_m": 0.00011672352747350208, "predicted_m": [ 0.49870323207111505, 0.1686888376620026, -0.02736256516282041 ], "observed_m": [ 0.49869858163110375, 0.16879225758781818, -0.027416482453348195 ] }, { "marker_id": 58, "link": "Board", "error_m": [ 9.107978682122014e-05, -4.4883420487529246e-05, 0.00010133336315437669 ], "error_norm_m": 0.00014345208081528846, "predicted_m": [ 0.0500992993777558, -0.21807498735661685, -0.027254264568621265 ], "observed_m": [ 0.05000821959093458, -0.21803010393612932, -0.02735559793177564 ] }, { "marker_id": 60, "link": "Board", "error_m": [ 0.0003078132053326299, 0.00043335610411499026, -0.00026838073765268755 ], "error_norm_m": 0.0005954617558616765, "predicted_m": [ 0.434387387455271, 0.28383115660753294, -0.027339779281795797 ], "observed_m": [ 0.43407957424993837, 0.28339780050341795, -0.02707139854414311 ] }, { "marker_id": 61, "link": "Board", "error_m": [ 2.4650305378952353e-05, -0.0003572962018007497, 0.00023681840218658587 ], "error_norm_m": 0.0004293613501361356, "predicted_m": [ -0.022390718332872296, 0.3358676262054167, -0.027210533840224975 ], "observed_m": [ -0.02241536863825125, 0.33622492240721746, -0.02744735224241156 ] }, { "marker_id": 62, "link": "Board", "error_m": [ 6.249181880169097e-05, 3.442928072591722e-05, 4.071268463426078e-05 ], "error_norm_m": 8.214697485955381e-05, "predicted_m": [ 0.4047108367134055, -0.1750777732565088, -0.027351053393055314 ], "observed_m": [ 0.40464834489460383, -0.17511220253723472, -0.027391766077689575 ] }, { "marker_id": 63, "link": "Board", "error_m": [ 1.639675169906596e-05, 9.281041430458936e-05, 0.00023665770941137115 ], "error_norm_m": 0.00025473417103621444, "predicted_m": [ 0.7774086201147543, -0.23614121124834989, -0.02745729998238623 ], "observed_m": [ 0.7773922233630552, -0.23623402166265448, -0.0276939576917976 ] }, { "marker_id": 64, "link": "Board", "error_m": [ 0.00018386772451242303, 0.0001537314231653264, -0.000189227089294957 ], "error_norm_m": 0.0003053646703678318, "predicted_m": [ -0.021259620108218497, -0.18819241444394433, -0.027233147915269186 ], "observed_m": [ -0.02144348783273092, -0.18834614586710965, -0.02704392082597423 ] }, { "marker_id": 66, "link": "Board", "error_m": [ -0.0001527787080590759, 0.0001429675963915411, 3.064732675112092e-05 ], "error_norm_m": 0.0002114718087385761, "predicted_m": [ 0.2097540589298693, -0.36320074383854745, -0.027304840295885133 ], "observed_m": [ 0.2099068376379284, -0.363343711434939, -0.027335487622636254 ] }, { "marker_id": 68, "link": "Board", "error_m": [ 1.0707035911217133e-06, 0.00015496218181720867, -3.977623390816892e-05 ], "error_norm_m": 0.00015998929021546112, "predicted_m": [ 0.5737533001737867, 0.17065613165299848, -0.027383353076530212 ], "observed_m": [ 0.5737522294701956, 0.17050116947118127, -0.027343576842622043 ] }, { "marker_id": 69, "link": "Board", "error_m": [ 0.00018574996194475977, -0.00015459719488791768, -0.000270109907198994 ], "error_norm_m": 0.00036243993019084096, "predicted_m": [ 0.0076170251652527415, -0.2811734555978179, -0.02724513506559229 ], "observed_m": [ 0.007431275203307982, -0.28101885840293, -0.026975025158393295 ] }, { "marker_id": 72, "link": "Board", "error_m": [ 0.00013785947879152438, 0.00020221335933620632, -0.00030695658764306674 ], "error_norm_m": 0.0003925784320160497, "predicted_m": [ 0.4410141594805151, 0.19434091769516215, -0.027345430144094792 ], "observed_m": [ 0.44087630000172356, 0.19413870433582595, -0.027038473556451725 ] }, { "marker_id": 75, "link": "Board", "error_m": [ 7.814798078478388e-05, 0.00018638300135792596, -3.001308117125262e-05 ], "error_norm_m": 0.00020431963962703093, "predicted_m": [ -0.025675812791123125, 0.19461774468892448, -0.027215630633655438 ], "observed_m": [ -0.02575396077190791, 0.19443136168756656, -0.027185617552484186 ] }, { "marker_id": 79, "link": "Board", "error_m": [ -0.00012709773507063593, -0.0004550615927411683, 0.00020508964736922278 ], "error_norm_m": 0.0005150695592890795, "predicted_m": [ 0.31231141707197296, -0.15908444170311248, -0.027324676327597365 ], "observed_m": [ 0.3124385148070436, -0.1586293801103713, -0.027529765974966588 ] }, { "marker_id": 82, "link": "Board", "error_m": [ -8.424423600239539e-05, -7.989411585868078e-05, 7.423270342159921e-05 ], "error_norm_m": 0.0001378065865833223, "predicted_m": [ 0.21918788030869862, 0.297268915846849, -0.027279359926455714 ], "observed_m": [ 0.21927212454470102, 0.2973488099627077, -0.027353592629877313 ] }, { "marker_id": 83, "link": "Board", "error_m": [ -4.6087973400568694e-05, -0.0001116780756738045, 8.883229150239216e-05 ], "error_norm_m": 0.000149957560302712, "predicted_m": [ 0.04418940131922932, 0.3392552255888784, -0.02722890580253765 ], "observed_m": [ 0.04423548929262989, 0.3393669036645522, -0.02731773809404004 ] }, { "marker_id": 84, "link": "Board", "error_m": [ 0.00014429318694753057, 4.653707740881474e-05, -0.00018367659734170802 ], "error_norm_m": 0.0002381665715088013, "predicted_m": [ 0.40751647274850145, 0.2584421254728671, -0.027333386748497092 ], "observed_m": [ 0.4073721795615539, 0.2583955883954583, -0.027149710151155384 ] }, { "marker_id": 85, "link": "Board", "error_m": [ 0.0002196497790956098, -9.674344608368024e-05, 0.0001327811523919413 ], "error_norm_m": 0.00027429209658214374, "predicted_m": [ 0.5045858680431479, -0.3127313743198765, -0.027384686266781685 ], "observed_m": [ 0.5043662182640523, -0.31263463087379284, -0.027517467419173627 ] }, { "marker_id": 86, "link": "Board", "error_m": [ -0.0003333425705983051, 0.000312435770258912, -8.694661077374502e-05 ], "error_norm_m": 0.00046507321255411687, "predicted_m": [ 0.3629176860221104, 0.2920337335200896, -0.027319554334911234 ], "observed_m": [ 0.3632510285927087, 0.2917212977498307, -0.02723260772413749 ] }, { "marker_id": 92, "link": "Board", "error_m": [ -0.00024214024744828588, 0.00027392273088788777, -0.00023537517513217213 ], "error_norm_m": 0.0004348183931251023, "predicted_m": [ 0.6451004759599377, -0.18482644075325802, -0.02741832121539404 ], "observed_m": [ 0.645342616207386, -0.1851003634841459, -0.027182946040261866 ] }, { "marker_id": 95, "link": "Board", "error_m": [ 0.0001627133697081895, 0.00016333602618762155, -3.6920090199100974e-05 ], "error_norm_m": 0.0002334895954702631, "predicted_m": [ 0.18604727567382928, -0.2740398890884687, -0.02729445345249692 ], "observed_m": [ 0.1858845623041211, -0.27420322511465633, -0.02725753336229782 ] }, { "marker_id": 96, "link": "Board", "error_m": [ 9.667972895738286e-05, 0.000131012866490976, -0.0001110178167737369 ], "error_norm_m": 0.00019706926908745142, "predicted_m": [ 0.36978042727380117, -0.1864665138012521, -0.027341823760050846 ], "observed_m": [ 0.3696837475448438, -0.18659752666774307, -0.02723080594327711 ] }, { "marker_id": 97, "link": "Board", "error_m": [ 0.0001251000479971509, 1.9811082550225123e-05, -0.00018148229829734186 ], "error_norm_m": 0.00022131047330839693, "predicted_m": [ 0.30435418361173533, -0.35964415474564254, -0.027330997505875237 ], "observed_m": [ 0.3042290835637382, -0.35966396582819277, -0.027149515207577895 ] }, { "marker_id": 102, "link": "Board", "error_m": [ -0.00015649929873307045, -0.00018317895266095618, 0.0004149198252484318 ], "error_norm_m": 0.0004797968534558109, "predicted_m": [ 0.6496990994289836, -0.22298660655169905, -0.027421223875208407 ], "observed_m": [ 0.6498555987277167, -0.2228034275990381, -0.02783614370045684 ] }, { "marker_id": 103, "link": "Board", "error_m": [ -0.00021218999603957178, 5.411165261615114e-05, 0.00010439866153011401 ], "error_norm_m": 0.00024259378783761924, "predicted_m": [ 0.1057203936540963, -0.18767699284094613, -0.02726843946520399 ], "observed_m": [ 0.10593258365013587, -0.18773110449356228, -0.027372838126734102 ] }, { "marker_id": 105, "link": "Board", "error_m": [ 0.00016946892703728622, 0.00022046122851415717, -0.00028446547997552224 ], "error_norm_m": 0.0003977982903518374, "predicted_m": [ 0.5248475444026527, -0.26623210488760707, -0.027388342481988553 ], "observed_m": [ 0.5246780754756154, -0.2664525661161212, -0.02710387700201303 ] }, { "marker_id": 198, "link": "Arm1", "error_m": [ -9.164504322703437e-05, -0.024006763274347396, -0.10902783808586358 ], "error_norm_m": 0.1116396101722045, "predicted_m": [ 0.18995525669165422, -0.05430647993102622, 0.03926993254332695 ], "observed_m": [ 0.19004690173488126, -0.030299716656678823, 0.14829777062919053 ] }, { "marker_id": 205, "link": "Board", "error_m": [ -7.827006555105598e-05, -1.5723466786909945e-07, -0.00019410506508836983 ], "error_norm_m": 0.00020929167249813757, "predicted_m": [ 0.7500215681455635, -0.0899913979600351, 0.0001565364085895002 ], "observed_m": [ 0.7500998382111146, -0.08999124072536722, 0.00035064147367787005 ] }, { "marker_id": 206, "link": "Board", "error_m": [ 0.0001723214437165943, -0.00020058313722163927, -5.010226272418499e-05 ], "error_norm_m": 0.00026914403510449496, "predicted_m": [ 0.6500244575075949, -0.009987792480277547, 0.00018775014210579212 ], "observed_m": [ 0.6498521360638783, -0.009787209343055908, 0.00023785240482997712 ] }, { "marker_id": 207, "link": "Board", "error_m": [ -0.0006736296828477872, -0.0004092821915490201, 0.000489352543507075 ], "error_norm_m": 0.0009277687070437453, "predicted_m": [ 0.7500244535754955, -0.00999139808446163, 0.00015993972198305006 ], "observed_m": [ 0.7506980832583433, -0.00958211589291261, -0.000329412821524025 ] }, { "marker_id": 208, "link": "Board", "error_m": [ 2.4878136654082894e-06, 6.380540848958949e-05, -2.1112330877272626e-05 ], "error_norm_m": 6.725362357842593e-05, "predicted_m": [ 0.350021583873961, -0.08997697554329875, 0.00026777808908046857 ], "observed_m": [ 0.3500190960602956, -0.09004078095178834, 0.0002888904199577412 ] }, { "marker_id": 210, "link": "Board", "error_m": [ -0.00010538576599690777, -0.00015961521187810024, 0.0003480133185675636 ], "error_norm_m": 0.00039711011752164454, "predicted_m": [ 0.020024121601079345, -0.0199650771583645, 0.0003625303747048736 ], "observed_m": [ 0.020129507367076253, -0.0198054619464864, 1.4517056137309997e-05 ] }, { "marker_id": 211, "link": "Board", "error_m": [ 0.0001469578689741735, 0.0002867114808692336, -2.2189613330008675e-05 ], "error_norm_m": 0.0003229434431218484, "predicted_m": [ 0.25002447323599236, -0.00997337006354121, 0.0002989918225967605 ], "observed_m": [ 0.2498775153670182, -0.010260081544410443, 0.00032118143592676916 ] }, { "marker_id": 214, "link": "Board", "error_m": [ 8.283695921235124e-05, -0.0003209125108052241, 7.378630046182819e-05 ], "error_norm_m": 0.0003395456074501701, "predicted_m": [ 0.350024469303893, -0.009976975667725292, 0.00027118140247401836 ], "observed_m": [ 0.3499416323446807, -0.009656063156920068, 0.00019739510201219018 ] }, { "marker_id": 215, "link": "Board", "error_m": [ -0.00015825323954737902, -0.0003304179563195092, 0.00024481502248794066 ], "error_norm_m": 0.0004406296732193284, "predicted_m": [ 0.2500215878060603, -0.08997336993911467, 0.00029558850920321063 ], "observed_m": [ 0.2501798410456077, -0.08964295198279516, 5.0773486715269985e-05 ] }, { "marker_id": 217, "link": "Board", "error_m": [ -9.756350373224532e-05, -0.0002824990933238264, 4.554800187618724e-05 ], "error_norm_m": 0.00030232266779751894, "predicted_m": [ 0.6500215720776629, -0.08998779235585101, 0.00018434682871224228 ], "observed_m": [ 0.6501191355813951, -0.08970529326252719, 0.00013879882683605504 ] }, { "marker_id": 229, "link": "Arm1", "error_m": [ -3.214298684245387e-06, -0.02414641290182945, -0.17109270295054435 ], "error_norm_m": 0.17278820060779776, "predicted_m": [ 0.18994365828344625, -0.13889458055630036, 0.008531469698162833 ], "observed_m": [ 0.1899468725821305, -0.1147481676544709, 0.1796241726487072 ] }, { "marker_id": 243, "link": "Arm1", "error_m": [ -3.884513005461554e-05, 0.00023776728317551066, -0.19443836766953299 ], "error_norm_m": 0.19443851692557615, "predicted_m": [ 0.18993043045847724, -0.15983610557532685, -0.03631774829838161 ], "observed_m": [ 0.18996927558853186, -0.16007387285850236, 0.15812061937115138 ] } ], "stage_idx": 0, "num_active_links": 3 }, { "method": "deterministic_geometric_prefix", "active_links": [ "Board", "Base", "Arm1", "Ellbow" ], "active_observations": 47, "joint_updates": [ { "pass": 0, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.07992154631184717, "new": 0.07999880927773914, "info": { "reason": "weighted_projection", "used_markers": 7, "axis_world": [ 0.9999999606780068, -3.60560418408085e-05, -0.00027810420122714285 ], "per_marker": [ { "marker_id": 198, "q_i": 0.07998200466262718, "weight": 1.0 }, { "marker_id": 229, "q_i": 0.0798763083866814, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.07990632588623292, "weight": 1.0 }, { "marker_id": 244, "q_i": 0.08034640449901298, "weight": 1.0 }, { "marker_id": 245, "q_i": 0.07980838328302468, "weight": 1.0 }, { "marker_id": 248, "q_i": 0.07996000125062086, "weight": 1.0 }, { "marker_id": 232, "q_i": 0.08011223697597392, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": -0.3485107912151748, "new": -0.3868932821157922, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 7, "axis_world": [ -0.9999999606780068, 3.60560418408085e-05, 0.00027810420122714285 ], "axis_id": 0, "theta_rad": -0.3868932821157922, "theta_alt_rad": 2.7546993714740005, "score_theta": 0.26298765200931706, "score_theta_alt": 1.7046957283137985, "best_score": 0.26298765200931706, "per_marker": [ { "marker_id": 198, "weight": 1.0 }, { "marker_id": 229, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 }, { "marker_id": 244, "weight": 1.0 }, { "marker_id": 245, "weight": 1.0 }, { "marker_id": 248, "weight": 1.0 }, { "marker_id": 232, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": 0.0, "new": -0.41278883059466054, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 3, "axis_world": [ -0.9999999606780068, 3.60560418408085e-05, 0.00027810420122714285 ], "axis_id": 0, "theta_rad": 2.7288038229951326, "theta_alt_rad": -0.41278883059466054, "score_theta": 0.32914748784209735, "score_theta_alt": 0.239387233525869, "best_score": 0.239387233525869, "per_marker": [ { "marker_id": 245, "weight": 1.0 }, { "marker_id": 248, "weight": 1.0 }, { "marker_id": 232, "weight": 1.0 } ] } } ] }, { "pass": 1, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.07999880927773914, "new": 0.07999880927774912, "info": { "reason": "weighted_projection", "used_markers": 7, "axis_world": [ 0.9999999606780068, -3.60560418408085e-05, -0.00027810420122714285 ], "per_marker": [ { "marker_id": 198, "q_i": 0.07998200466262717, "weight": 1.0 }, { "marker_id": 229, "q_i": 0.07987630838668139, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.0799063258862329, "weight": 1.0 }, { "marker_id": 244, "q_i": 0.08034640449903739, "weight": 1.0 }, { "marker_id": 245, "q_i": 0.07980838328304228, "weight": 1.0 }, { "marker_id": 248, "q_i": 0.07996000125063114, "weight": 1.0 }, { "marker_id": 232, "q_i": 0.08011223697599151, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": -0.3868932821157922, "new": -0.3772896296637307, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 7, "axis_world": [ -0.9999999606780068, 3.60560418408085e-05, 0.00027810420122714285 ], "axis_id": 0, "theta_rad": -0.3772896296637308, "theta_alt_rad": 2.764303023926063, "score_theta": 0.24851137120270309, "score_theta_alt": 1.6832404422202933, "best_score": 0.24851137120270309, "per_marker": [ { "marker_id": 198, "weight": 1.0 }, { "marker_id": 229, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 }, { "marker_id": 244, "weight": 1.0 }, { "marker_id": 245, "weight": 1.0 }, { "marker_id": 248, "weight": 1.0 }, { "marker_id": 232, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": -0.41278883059466054, "new": -0.40522210906928713, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 3, "axis_world": [ -0.9999999606780068, 3.605604184080851e-05, 0.00027810420122714285 ], "axis_id": 0, "theta_rad": 2.7363705445205055, "theta_alt_rad": -0.40522210906928713, "score_theta": 0.32781073363329516, "score_theta_alt": 0.23403562169022635, "best_score": 0.23403562169022635, "per_marker": [ { "marker_id": 245, "weight": 1.0 }, { "marker_id": 248, "weight": 1.0 }, { "marker_id": 232, "weight": 1.0 } ] } } ] } ], "root_link": "Board", "root_pose": { "reason": "kabsch", "used_markers": [ 210, 211, 215, 214, 208, 206, 205, 207, 217, 46, 47, 51, 53, 54, 55, 56, 58, 60, 61, 62, 63, 64, 66, 68, 69, 72, 75, 79, 82, 83, 84, 85, 86, 92, 95, 96, 97, 102, 103, 105 ] }, "marker_stats": { "num_markers_used": 47, "mean_error_m": 0.027499997569686154, "rms_error_m": 0.07170772974130879, "median_error_m": 0.00030232266779751894, "worst_error_m": 0.2174030637949629 }, "marker_reports": [ { "marker_id": 46, "link": "Board", "error_m": [ 0.00022749558975043715, 0.00016672854606300525, -0.0001424493757194202 ], "error_norm_m": 0.0003159817654090745, "predicted_m": [ 0.5367338354339872, 0.1854574664246485, -0.027372428046022967 ], "observed_m": [ 0.5365063398442368, 0.1852907378785855, -0.027229978670303547 ] }, { "marker_id": 47, "link": "Board", "error_m": [ -0.00022722184711798654, 3.696615747461607e-05, -7.059070798796571e-05 ], "error_norm_m": 0.0002407889379942318, "predicted_m": [ 0.34423681968725073, -0.28651559277433253, -0.02733897724756431 ], "observed_m": [ 0.3444640415343687, -0.28655255893180714, -0.027268386539576344 ] }, { "marker_id": 51, "link": "Board", "error_m": [ 0.0001257692992016335, -0.00018153626347547358, 0.0001235006227337937 ], "error_norm_m": 0.00025303307173952854, "predicted_m": [ 0.16781095495352877, -0.17204923158489382, -0.027285042032703932 ], "observed_m": [ 0.16768518565432713, -0.17186769532141835, -0.027408542655437726 ] }, { "marker_id": 53, "link": "Board", "error_m": [ 7.130234272401115e-05, 0.00014098667310161184, -0.00010564574252875172 ], "error_norm_m": 0.00019005864617176565, "predicted_m": [ 0.4862748040371518, 0.21225928577083694, -0.027357254798042192 ], "observed_m": [ 0.4862035016944278, 0.21211829909773533, -0.02725160905551344 ] }, { "marker_id": 54, "link": "Board", "error_m": [ -0.00010248746565777456, 3.10086354153305e-05, -0.0001591470338178705 ], "error_norm_m": 0.00019181500061335354, "predicted_m": [ 0.3422752309744635, -0.33056552203597817, -0.027340306112767224 ], "observed_m": [ 0.34237771844012127, -0.3305965306713935, -0.027181159078949354 ] }, { "marker_id": 55, "link": "Board", "error_m": [ -4.3662178850600863e-05, 0.00012306782770954428, -5.566703032713893e-05 ], "error_norm_m": 0.0001419538458252207, "predicted_m": [ 0.2837276862528287, -0.26255341106050645, -0.02732112986998667 ], "observed_m": [ 0.2837713484316793, -0.262676478888216, -0.02726546283965953 ] }, { "marker_id": 56, "link": "Board", "error_m": [ 4.6504400113001054e-06, -0.00010341992581558435, 5.3917290527786405e-05 ], "error_norm_m": 0.00011672352747350208, "predicted_m": [ 0.49870323207111505, 0.1686888376620026, -0.02736256516282041 ], "observed_m": [ 0.49869858163110375, 0.16879225758781818, -0.027416482453348195 ] }, { "marker_id": 58, "link": "Board", "error_m": [ 9.107978682122014e-05, -4.4883420487529246e-05, 0.00010133336315437669 ], "error_norm_m": 0.00014345208081528846, "predicted_m": [ 0.0500992993777558, -0.21807498735661685, -0.027254264568621265 ], "observed_m": [ 0.05000821959093458, -0.21803010393612932, -0.02735559793177564 ] }, { "marker_id": 60, "link": "Board", "error_m": [ 0.0003078132053326299, 0.00043335610411499026, -0.00026838073765268755 ], "error_norm_m": 0.0005954617558616765, "predicted_m": [ 0.434387387455271, 0.28383115660753294, -0.027339779281795797 ], "observed_m": [ 0.43407957424993837, 0.28339780050341795, -0.02707139854414311 ] }, { "marker_id": 61, "link": "Board", "error_m": [ 2.4650305378952353e-05, -0.0003572962018007497, 0.00023681840218658587 ], "error_norm_m": 0.0004293613501361356, "predicted_m": [ -0.022390718332872296, 0.3358676262054167, -0.027210533840224975 ], "observed_m": [ -0.02241536863825125, 0.33622492240721746, -0.02744735224241156 ] }, { "marker_id": 62, "link": "Board", "error_m": [ 6.249181880169097e-05, 3.442928072591722e-05, 4.071268463426078e-05 ], "error_norm_m": 8.214697485955381e-05, "predicted_m": [ 0.4047108367134055, -0.1750777732565088, -0.027351053393055314 ], "observed_m": [ 0.40464834489460383, -0.17511220253723472, -0.027391766077689575 ] }, { "marker_id": 63, "link": "Board", "error_m": [ 1.639675169906596e-05, 9.281041430458936e-05, 0.00023665770941137115 ], "error_norm_m": 0.00025473417103621444, "predicted_m": [ 0.7774086201147543, -0.23614121124834989, -0.02745729998238623 ], "observed_m": [ 0.7773922233630552, -0.23623402166265448, -0.0276939576917976 ] }, { "marker_id": 64, "link": "Board", "error_m": [ 0.00018386772451242303, 0.0001537314231653264, -0.000189227089294957 ], "error_norm_m": 0.0003053646703678318, "predicted_m": [ -0.021259620108218497, -0.18819241444394433, -0.027233147915269186 ], "observed_m": [ -0.02144348783273092, -0.18834614586710965, -0.02704392082597423 ] }, { "marker_id": 66, "link": "Board", "error_m": [ -0.0001527787080590759, 0.0001429675963915411, 3.064732675112092e-05 ], "error_norm_m": 0.0002114718087385761, "predicted_m": [ 0.2097540589298693, -0.36320074383854745, -0.027304840295885133 ], "observed_m": [ 0.2099068376379284, -0.363343711434939, -0.027335487622636254 ] }, { "marker_id": 68, "link": "Board", "error_m": [ 1.0707035911217133e-06, 0.00015496218181720867, -3.977623390816892e-05 ], "error_norm_m": 0.00015998929021546112, "predicted_m": [ 0.5737533001737867, 0.17065613165299848, -0.027383353076530212 ], "observed_m": [ 0.5737522294701956, 0.17050116947118127, -0.027343576842622043 ] }, { "marker_id": 69, "link": "Board", "error_m": [ 0.00018574996194475977, -0.00015459719488791768, -0.000270109907198994 ], "error_norm_m": 0.00036243993019084096, "predicted_m": [ 0.0076170251652527415, -0.2811734555978179, -0.02724513506559229 ], "observed_m": [ 0.007431275203307982, -0.28101885840293, -0.026975025158393295 ] }, { "marker_id": 72, "link": "Board", "error_m": [ 0.00013785947879152438, 0.00020221335933620632, -0.00030695658764306674 ], "error_norm_m": 0.0003925784320160497, "predicted_m": [ 0.4410141594805151, 0.19434091769516215, -0.027345430144094792 ], "observed_m": [ 0.44087630000172356, 0.19413870433582595, -0.027038473556451725 ] }, { "marker_id": 75, "link": "Board", "error_m": [ 7.814798078478388e-05, 0.00018638300135792596, -3.001308117125262e-05 ], "error_norm_m": 0.00020431963962703093, "predicted_m": [ -0.025675812791123125, 0.19461774468892448, -0.027215630633655438 ], "observed_m": [ -0.02575396077190791, 0.19443136168756656, -0.027185617552484186 ] }, { "marker_id": 79, "link": "Board", "error_m": [ -0.00012709773507063593, -0.0004550615927411683, 0.00020508964736922278 ], "error_norm_m": 0.0005150695592890795, "predicted_m": [ 0.31231141707197296, -0.15908444170311248, -0.027324676327597365 ], "observed_m": [ 0.3124385148070436, -0.1586293801103713, -0.027529765974966588 ] }, { "marker_id": 82, "link": "Board", "error_m": [ -8.424423600239539e-05, -7.989411585868078e-05, 7.423270342159921e-05 ], "error_norm_m": 0.0001378065865833223, "predicted_m": [ 0.21918788030869862, 0.297268915846849, -0.027279359926455714 ], "observed_m": [ 0.21927212454470102, 0.2973488099627077, -0.027353592629877313 ] }, { "marker_id": 83, "link": "Board", "error_m": [ -4.6087973400568694e-05, -0.0001116780756738045, 8.883229150239216e-05 ], "error_norm_m": 0.000149957560302712, "predicted_m": [ 0.04418940131922932, 0.3392552255888784, -0.02722890580253765 ], "observed_m": [ 0.04423548929262989, 0.3393669036645522, -0.02731773809404004 ] }, { "marker_id": 84, "link": "Board", "error_m": [ 0.00014429318694753057, 4.653707740881474e-05, -0.00018367659734170802 ], "error_norm_m": 0.0002381665715088013, "predicted_m": [ 0.40751647274850145, 0.2584421254728671, -0.027333386748497092 ], "observed_m": [ 0.4073721795615539, 0.2583955883954583, -0.027149710151155384 ] }, { "marker_id": 85, "link": "Board", "error_m": [ 0.0002196497790956098, -9.674344608368024e-05, 0.0001327811523919413 ], "error_norm_m": 0.00027429209658214374, "predicted_m": [ 0.5045858680431479, -0.3127313743198765, -0.027384686266781685 ], "observed_m": [ 0.5043662182640523, -0.31263463087379284, -0.027517467419173627 ] }, { "marker_id": 86, "link": "Board", "error_m": [ -0.0003333425705983051, 0.000312435770258912, -8.694661077374502e-05 ], "error_norm_m": 0.00046507321255411687, "predicted_m": [ 0.3629176860221104, 0.2920337335200896, -0.027319554334911234 ], "observed_m": [ 0.3632510285927087, 0.2917212977498307, -0.02723260772413749 ] }, { "marker_id": 92, "link": "Board", "error_m": [ -0.00024214024744828588, 0.00027392273088788777, -0.00023537517513217213 ], "error_norm_m": 0.0004348183931251023, "predicted_m": [ 0.6451004759599377, -0.18482644075325802, -0.02741832121539404 ], "observed_m": [ 0.645342616207386, -0.1851003634841459, -0.027182946040261866 ] }, { "marker_id": 95, "link": "Board", "error_m": [ 0.0001627133697081895, 0.00016333602618762155, -3.6920090199100974e-05 ], "error_norm_m": 0.0002334895954702631, "predicted_m": [ 0.18604727567382928, -0.2740398890884687, -0.02729445345249692 ], "observed_m": [ 0.1858845623041211, -0.27420322511465633, -0.02725753336229782 ] }, { "marker_id": 96, "link": "Board", "error_m": [ 9.667972895738286e-05, 0.000131012866490976, -0.0001110178167737369 ], "error_norm_m": 0.00019706926908745142, "predicted_m": [ 0.36978042727380117, -0.1864665138012521, -0.027341823760050846 ], "observed_m": [ 0.3696837475448438, -0.18659752666774307, -0.02723080594327711 ] }, { "marker_id": 97, "link": "Board", "error_m": [ 0.0001251000479971509, 1.9811082550225123e-05, -0.00018148229829734186 ], "error_norm_m": 0.00022131047330839693, "predicted_m": [ 0.30435418361173533, -0.35964415474564254, -0.027330997505875237 ], "observed_m": [ 0.3042290835637382, -0.35966396582819277, -0.027149515207577895 ] }, { "marker_id": 102, "link": "Board", "error_m": [ -0.00015649929873307045, -0.00018317895266095618, 0.0004149198252484318 ], "error_norm_m": 0.0004797968534558109, "predicted_m": [ 0.6496990994289836, -0.22298660655169905, -0.027421223875208407 ], "observed_m": [ 0.6498555987277167, -0.2228034275990381, -0.02783614370045684 ] }, { "marker_id": 103, "link": "Board", "error_m": [ -0.00021218999603957178, 5.411165261615114e-05, 0.00010439866153011401 ], "error_norm_m": 0.00024259378783761924, "predicted_m": [ 0.1057203936540963, -0.18767699284094613, -0.02726843946520399 ], "observed_m": [ 0.10593258365013587, -0.18773110449356228, -0.027372838126734102 ] }, { "marker_id": 105, "link": "Board", "error_m": [ 0.00016946892703728622, 0.00022046122851415717, -0.00028446547997552224 ], "error_norm_m": 0.0003977982903518374, "predicted_m": [ 0.5248475444026527, -0.26623210488760707, -0.027388342481988553 ], "observed_m": [ 0.5246780754756154, -0.2664525661161212, -0.02710387700201303 ] }, { "marker_id": 198, "link": "Arm1", "error_m": [ -1.5653638275492376e-05, -0.02331367099181163, -0.11368995428910211 ], "error_norm_m": 0.11605573319060528, "predicted_m": [ 0.19003124809660576, -0.053613387648490454, 0.03460781634008842 ], "observed_m": [ 0.19004690173488126, -0.030299716656678823, 0.14829777062919053 ] }, { "marker_id": 205, "link": "Board", "error_m": [ -7.827006555105598e-05, -1.5723466786909945e-07, -0.00019410506508836983 ], "error_norm_m": 0.00020929167249813757, "predicted_m": [ 0.7500215681455635, -0.0899913979600351, 0.0001565364085895002 ], "observed_m": [ 0.7500998382111146, -0.08999124072536722, 0.00035064147367787005 ] }, { "marker_id": 206, "link": "Board", "error_m": [ 0.0001723214437165943, -0.00020058313722163927, -5.010226272418499e-05 ], "error_norm_m": 0.00026914403510449496, "predicted_m": [ 0.6500244575075949, -0.009987792480277547, 0.00018775014210579212 ], "observed_m": [ 0.6498521360638783, -0.009787209343055908, 0.00023785240482997712 ] }, { "marker_id": 207, "link": "Board", "error_m": [ -0.0006736296828477872, -0.0004092821915490201, 0.000489352543507075 ], "error_norm_m": 0.0009277687070437453, "predicted_m": [ 0.7500244535754955, -0.00999139808446163, 0.00015993972198305006 ], "observed_m": [ 0.7506980832583433, -0.00958211589291261, -0.000329412821524025 ] }, { "marker_id": 208, "link": "Board", "error_m": [ 2.4878136654082894e-06, 6.380540848958949e-05, -2.1112330877272626e-05 ], "error_norm_m": 6.725362357842593e-05, "predicted_m": [ 0.350021583873961, -0.08997697554329875, 0.00026777808908046857 ], "observed_m": [ 0.3500190960602956, -0.09004078095178834, 0.0002888904199577412 ] }, { "marker_id": 210, "link": "Board", "error_m": [ -0.00010538576599690777, -0.00015961521187810024, 0.0003480133185675636 ], "error_norm_m": 0.00039711011752164454, "predicted_m": [ 0.020024121601079345, -0.0199650771583645, 0.0003625303747048736 ], "observed_m": [ 0.020129507367076253, -0.0198054619464864, 1.4517056137309997e-05 ] }, { "marker_id": 211, "link": "Board", "error_m": [ 0.0001469578689741735, 0.0002867114808692336, -2.2189613330008675e-05 ], "error_norm_m": 0.0003229434431218484, "predicted_m": [ 0.25002447323599236, -0.00997337006354121, 0.0002989918225967605 ], "observed_m": [ 0.2498775153670182, -0.010260081544410443, 0.00032118143592676916 ] }, { "marker_id": 214, "link": "Board", "error_m": [ 8.283695921235124e-05, -0.0003209125108052241, 7.378630046182819e-05 ], "error_norm_m": 0.0003395456074501701, "predicted_m": [ 0.350024469303893, -0.009976975667725292, 0.00027118140247401836 ], "observed_m": [ 0.3499416323446807, -0.009656063156920068, 0.00019739510201219018 ] }, { "marker_id": 215, "link": "Board", "error_m": [ -0.00015825323954737902, -0.0003304179563195092, 0.00024481502248794066 ], "error_norm_m": 0.0004406296732193284, "predicted_m": [ 0.2500215878060603, -0.08997336993911467, 0.00029558850920321063 ], "observed_m": [ 0.2501798410456077, -0.08964295198279516, 5.0773486715269985e-05 ] }, { "marker_id": 217, "link": "Board", "error_m": [ -9.756350373224532e-05, -0.0002824990933238264, 4.554800187618724e-05 ], "error_norm_m": 0.00030232266779751894, "predicted_m": [ 0.6500215720776629, -0.08998779235585101, 0.00018434682871224228 ], "observed_m": [ 0.6501191355813951, -0.08970529326252719, 0.00013879882683605504 ] }, { "marker_id": 229, "link": "Arm1", "error_m": [ 7.213689159668579e-05, -0.022533798983650932, -0.17817610208674156 ], "error_norm_m": 0.17959538038377176, "predicted_m": [ 0.19001900947372719, -0.13728196663812184, 0.0014480705619656295 ], "observed_m": [ 0.1899468725821305, -0.1147481676544709, 0.1796241726487072 ] }, { "marker_id": 232, "link": "Ellbow", "error_m": [ -0.00015474939269105592, 0.06720277880865702, -0.1572962731820939 ], "error_norm_m": 0.1710507380397867, "predicted_m": [ 0.28001165633848346, -0.08938811006824418, -0.031214279280344683 ], "observed_m": [ 0.2801664057311745, -0.1565908888769012, 0.12608199390174923 ] }, { "marker_id": 243, "link": "Arm1", "error_m": [ 3.6390486352205764e-05, 0.0031495830102476197, -0.20210578511105753 ], "error_norm_m": 0.20213032818645227, "predicted_m": [ 0.19000566607488406, -0.15692428984825474, -0.04398516573990614 ], "observed_m": [ 0.18996927558853186, -0.16007387285850236, 0.15812061937115138 ] }, { "marker_id": 244, "link": "Ellbow", "error_m": [ -0.0003968044170056806, 0.003026415085264758, -0.17733748820476436 ], "error_norm_m": 0.17736375437159818, "predicted_m": [ 0.31501042062417484, -0.12439101613529484, -0.03112447207356735 ], "observed_m": [ 0.3154072250411805, -0.1274174312205596, 0.146213016131197 ] }, { "marker_id": 245, "link": "Ellbow", "error_m": [ 0.0001347129387497259, 0.06201163841294914, -0.20837137687600593 ], "error_norm_m": 0.2174030637949629, "predicted_m": [ 0.28000440952700295, -0.09971149910386252, -0.05593375715311903 ], "observed_m": [ 0.2798696965882532, -0.16172313751681167, 0.1524376197228869 ] }, { "marker_id": 248, "link": "Ellbow", "error_m": [ -1.6830660536926167e-05, 0.061765507986919765, -0.20807203313987305 ], "error_norm_m": 0.21704596111218888, "predicted_m": [ 0.24250441100155157, -0.0997101470022935, -0.055923328245573015 ], "observed_m": [ 0.2425212416620885, -0.16147565498921326, 0.15214870489430002 ] } ], "stage_idx": 1, "num_active_links": 4 }, { "method": "deterministic_geometric_prefix", "active_links": [ "Board", "Base", "Arm1", "Ellbow", "Arm2" ], "active_observations": 51, "joint_updates": [ { "pass": 0, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.07999880927774912, "new": 0.059638666563065296, "info": { "reason": "weighted_projection", "used_markers": 11, "axis_world": [ 0.9999999606780068, -3.60560418408085e-05, -0.00027810420122714285 ], "per_marker": [ { "marker_id": 198, "q_i": 0.07998200466262717, "weight": 1.0 }, { "marker_id": 229, "q_i": 0.07987630838668137, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.0799063258862329, "weight": 1.0 }, { "marker_id": 244, "q_i": 0.08034640449903575, "weight": 1.0 }, { "marker_id": 245, "q_i": 0.0798083832830411, "weight": 1.0 }, { "marker_id": 248, "q_i": 0.07996000125063045, "weight": 1.0 }, { "marker_id": 232, "q_i": 0.0801122369759903, "weight": 1.0 }, { "marker_id": 120, "q_i": 0.02092398552083138, "weight": 1.0 }, { "marker_id": 218, "q_i": 0.02730575949001474, "weight": 1.0 }, { "marker_id": 114, "q_i": 0.02094303230949204, "weight": 1.0 }, { "marker_id": 219, "q_i": 0.026860889929141055, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": -0.3772896296637307, "new": -0.7320976884436501, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 11, "axis_world": [ -0.9999999606780068, 3.60560418408085e-05, 0.00027810420122714285 ], "axis_id": 0, "theta_rad": -0.7320976884436503, "theta_alt_rad": 2.409494965146143, "score_theta": 1.7920039084350352, "score_theta_alt": 2.3284089967631205, "best_score": 1.7920039084350352, "per_marker": [ { "marker_id": 198, "weight": 1.0 }, { "marker_id": 229, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 }, { "marker_id": 244, "weight": 1.0 }, { "marker_id": 245, "weight": 1.0 }, { "marker_id": 248, "weight": 1.0 }, { "marker_id": 232, "weight": 1.0 }, { "marker_id": 120, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 114, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": -0.40522210906928713, "new": 0.7615613728905246, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 7, "axis_world": [ -0.9999999606780068, 3.60560418408085e-05, 0.00027810420122714285 ], "axis_id": 0, "theta_rad": -2.3800312806992685, "theta_alt_rad": 0.7615613728905246, "score_theta": 1.3397782747992029, "score_theta_alt": 1.1183881738572972, "best_score": 1.1183881738572972, "per_marker": [ { "marker_id": 245, "weight": 1.0 }, { "marker_id": 248, "weight": 1.0 }, { "marker_id": 232, "weight": 1.0 }, { "marker_id": 120, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 114, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } }, { "link": "Arm2", "joint_variable": "a", "joint_type": "revolute", "old": 0.0, "new": 1.1748818028993933, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 4, "axis_world": [ -2.7859476128274623e-05, -0.9995672290343744, 0.029416897565718147 ], "axis_id": 1, "theta_rad": -1.9667108506903996, "theta_alt_rad": 1.1748818028993933, "score_theta": 0.869411767033095, "score_theta_alt": 0.7980937427615067, "best_score": 0.7980937427615067, "per_marker": [ { "marker_id": 120, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 114, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } } ] }, { "pass": 1, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.059638666563065296, "new": 0.06216081924186751, "info": { "reason": "weighted_projection", "used_markers": 11, "axis_world": [ 0.9999999606780068, -3.60560418408085e-05, -0.00027810420122714285 ], "per_marker": [ { "marker_id": 198, "q_i": 0.07998200466262718, "weight": 1.0 }, { "marker_id": 229, "q_i": 0.07987630838668137, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.0799063258862329, "weight": 1.0 }, { "marker_id": 244, "q_i": 0.08034640449913101, "weight": 1.0 }, { "marker_id": 245, "q_i": 0.07980838328310969, "weight": 1.0 }, { "marker_id": 248, "q_i": 0.07996000125067045, "weight": 1.0 }, { "marker_id": 232, "q_i": 0.08011223697605889, "weight": 1.0 }, { "marker_id": 120, "q_i": 0.013293649810575126, "weight": 1.0 }, { "marker_id": 218, "q_i": 0.048807934933547015, "weight": 1.0 }, { "marker_id": 114, "q_i": 0.01331269659923576, "weight": 1.0 }, { "marker_id": 219, "q_i": 0.04836306537267332, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": -0.7320976884436501, "new": -0.431100871926823, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 11, "axis_world": [ -0.9999999606780068, 3.60560418408085e-05, 0.00027810420122714285 ], "axis_id": 0, "theta_rad": -0.43110087192682295, "theta_alt_rad": 2.71049178166297, "score_theta": 0.6963459412689859, "score_theta_alt": 3.367337005129568, "best_score": 0.6963459412689859, "per_marker": [ { "marker_id": 198, "weight": 1.0 }, { "marker_id": 229, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 }, { "marker_id": 244, "weight": 1.0 }, { "marker_id": 245, "weight": 1.0 }, { "marker_id": 248, "weight": 1.0 }, { "marker_id": 232, "weight": 1.0 }, { "marker_id": 120, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 114, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": 0.7615613728905246, "new": 1.19429973016309, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 7, "axis_world": [ -0.9999999606780068, 3.60560418408085e-05, 0.00027810420122714285 ], "axis_id": 0, "theta_rad": -1.9472929234267036, "theta_alt_rad": 1.19429973016309, "score_theta": 1.3568860789842814, "score_theta_alt": 0.45539369234385424, "best_score": 0.45539369234385424, "per_marker": [ { "marker_id": 245, "weight": 1.0 }, { "marker_id": 248, "weight": 1.0 }, { "marker_id": 232, "weight": 1.0 }, { "marker_id": 120, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 114, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } }, { "link": "Arm2", "joint_variable": "a", "joint_type": "revolute", "old": 1.1748818028993933, "new": 1.2392937925732568, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 4, "axis_world": [ 0.00016617105655163106, -0.7226579559419923, 0.6912057950414778 ], "axis_id": 1, "theta_rad": -1.9022988610165361, "theta_alt_rad": 1.2392937925732568, "score_theta": 0.4072528615910133, "score_theta_alt": 0.37733449690911347, "best_score": 0.37733449690911347, "per_marker": [ { "marker_id": 120, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 114, "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, 207, 217, 46, 47, 51, 53, 54, 55, 56, 58, 60, 61, 62, 63, 64, 66, 68, 69, 72, 75, 79, 82, 83, 84, 85, 86, 92, 95, 96, 97, 102, 103, 105 ] }, "marker_stats": { "num_markers_used": 51, "mean_error_m": 0.04660985431236483, "rms_error_m": 0.10144968459607198, "median_error_m": 0.0003159817654090745, "worst_error_m": 0.27461027941887 }, "marker_reports": [ { "marker_id": 46, "link": "Board", "error_m": [ 0.00022749558975043715, 0.00016672854606300525, -0.0001424493757194202 ], "error_norm_m": 0.0003159817654090745, "predicted_m": [ 0.5367338354339872, 0.1854574664246485, -0.027372428046022967 ], "observed_m": [ 0.5365063398442368, 0.1852907378785855, -0.027229978670303547 ] }, { "marker_id": 47, "link": "Board", "error_m": [ -0.00022722184711798654, 3.696615747461607e-05, -7.059070798796571e-05 ], "error_norm_m": 0.0002407889379942318, "predicted_m": [ 0.34423681968725073, -0.28651559277433253, -0.02733897724756431 ], "observed_m": [ 0.3444640415343687, -0.28655255893180714, -0.027268386539576344 ] }, { "marker_id": 51, "link": "Board", "error_m": [ 0.0001257692992016335, -0.00018153626347547358, 0.0001235006227337937 ], "error_norm_m": 0.00025303307173952854, "predicted_m": [ 0.16781095495352877, -0.17204923158489382, -0.027285042032703932 ], "observed_m": [ 0.16768518565432713, -0.17186769532141835, -0.027408542655437726 ] }, { "marker_id": 53, "link": "Board", "error_m": [ 7.130234272401115e-05, 0.00014098667310161184, -0.00010564574252875172 ], "error_norm_m": 0.00019005864617176565, "predicted_m": [ 0.4862748040371518, 0.21225928577083694, -0.027357254798042192 ], "observed_m": [ 0.4862035016944278, 0.21211829909773533, -0.02725160905551344 ] }, { "marker_id": 54, "link": "Board", "error_m": [ -0.00010248746565777456, 3.10086354153305e-05, -0.0001591470338178705 ], "error_norm_m": 0.00019181500061335354, "predicted_m": [ 0.3422752309744635, -0.33056552203597817, -0.027340306112767224 ], "observed_m": [ 0.34237771844012127, -0.3305965306713935, -0.027181159078949354 ] }, { "marker_id": 55, "link": "Board", "error_m": [ -4.3662178850600863e-05, 0.00012306782770954428, -5.566703032713893e-05 ], "error_norm_m": 0.0001419538458252207, "predicted_m": [ 0.2837276862528287, -0.26255341106050645, -0.02732112986998667 ], "observed_m": [ 0.2837713484316793, -0.262676478888216, -0.02726546283965953 ] }, { "marker_id": 56, "link": "Board", "error_m": [ 4.6504400113001054e-06, -0.00010341992581558435, 5.3917290527786405e-05 ], "error_norm_m": 0.00011672352747350208, "predicted_m": [ 0.49870323207111505, 0.1686888376620026, -0.02736256516282041 ], "observed_m": [ 0.49869858163110375, 0.16879225758781818, -0.027416482453348195 ] }, { "marker_id": 58, "link": "Board", "error_m": [ 9.107978682122014e-05, -4.4883420487529246e-05, 0.00010133336315437669 ], "error_norm_m": 0.00014345208081528846, "predicted_m": [ 0.0500992993777558, -0.21807498735661685, -0.027254264568621265 ], "observed_m": [ 0.05000821959093458, -0.21803010393612932, -0.02735559793177564 ] }, { "marker_id": 60, "link": "Board", "error_m": [ 0.0003078132053326299, 0.00043335610411499026, -0.00026838073765268755 ], "error_norm_m": 0.0005954617558616765, "predicted_m": [ 0.434387387455271, 0.28383115660753294, -0.027339779281795797 ], "observed_m": [ 0.43407957424993837, 0.28339780050341795, -0.02707139854414311 ] }, { "marker_id": 61, "link": "Board", "error_m": [ 2.4650305378952353e-05, -0.0003572962018007497, 0.00023681840218658587 ], "error_norm_m": 0.0004293613501361356, "predicted_m": [ -0.022390718332872296, 0.3358676262054167, -0.027210533840224975 ], "observed_m": [ -0.02241536863825125, 0.33622492240721746, -0.02744735224241156 ] }, { "marker_id": 62, "link": "Board", "error_m": [ 6.249181880169097e-05, 3.442928072591722e-05, 4.071268463426078e-05 ], "error_norm_m": 8.214697485955381e-05, "predicted_m": [ 0.4047108367134055, -0.1750777732565088, -0.027351053393055314 ], "observed_m": [ 0.40464834489460383, -0.17511220253723472, -0.027391766077689575 ] }, { "marker_id": 63, "link": "Board", "error_m": [ 1.639675169906596e-05, 9.281041430458936e-05, 0.00023665770941137115 ], "error_norm_m": 0.00025473417103621444, "predicted_m": [ 0.7774086201147543, -0.23614121124834989, -0.02745729998238623 ], "observed_m": [ 0.7773922233630552, -0.23623402166265448, -0.0276939576917976 ] }, { "marker_id": 64, "link": "Board", "error_m": [ 0.00018386772451242303, 0.0001537314231653264, -0.000189227089294957 ], "error_norm_m": 0.0003053646703678318, "predicted_m": [ -0.021259620108218497, -0.18819241444394433, -0.027233147915269186 ], "observed_m": [ -0.02144348783273092, -0.18834614586710965, -0.02704392082597423 ] }, { "marker_id": 66, "link": "Board", "error_m": [ -0.0001527787080590759, 0.0001429675963915411, 3.064732675112092e-05 ], "error_norm_m": 0.0002114718087385761, "predicted_m": [ 0.2097540589298693, -0.36320074383854745, -0.027304840295885133 ], "observed_m": [ 0.2099068376379284, -0.363343711434939, -0.027335487622636254 ] }, { "marker_id": 68, "link": "Board", "error_m": [ 1.0707035911217133e-06, 0.00015496218181720867, -3.977623390816892e-05 ], "error_norm_m": 0.00015998929021546112, "predicted_m": [ 0.5737533001737867, 0.17065613165299848, -0.027383353076530212 ], "observed_m": [ 0.5737522294701956, 0.17050116947118127, -0.027343576842622043 ] }, { "marker_id": 69, "link": "Board", "error_m": [ 0.00018574996194475977, -0.00015459719488791768, -0.000270109907198994 ], "error_norm_m": 0.00036243993019084096, "predicted_m": [ 0.0076170251652527415, -0.2811734555978179, -0.02724513506559229 ], "observed_m": [ 0.007431275203307982, -0.28101885840293, -0.026975025158393295 ] }, { "marker_id": 72, "link": "Board", "error_m": [ 0.00013785947879152438, 0.00020221335933620632, -0.00030695658764306674 ], "error_norm_m": 0.0003925784320160497, "predicted_m": [ 0.4410141594805151, 0.19434091769516215, -0.027345430144094792 ], "observed_m": [ 0.44087630000172356, 0.19413870433582595, -0.027038473556451725 ] }, { "marker_id": 75, "link": "Board", "error_m": [ 7.814798078478388e-05, 0.00018638300135792596, -3.001308117125262e-05 ], "error_norm_m": 0.00020431963962703093, "predicted_m": [ -0.025675812791123125, 0.19461774468892448, -0.027215630633655438 ], "observed_m": [ -0.02575396077190791, 0.19443136168756656, -0.027185617552484186 ] }, { "marker_id": 79, "link": "Board", "error_m": [ -0.00012709773507063593, -0.0004550615927411683, 0.00020508964736922278 ], "error_norm_m": 0.0005150695592890795, "predicted_m": [ 0.31231141707197296, -0.15908444170311248, -0.027324676327597365 ], "observed_m": [ 0.3124385148070436, -0.1586293801103713, -0.027529765974966588 ] }, { "marker_id": 82, "link": "Board", "error_m": [ -8.424423600239539e-05, -7.989411585868078e-05, 7.423270342159921e-05 ], "error_norm_m": 0.0001378065865833223, "predicted_m": [ 0.21918788030869862, 0.297268915846849, -0.027279359926455714 ], "observed_m": [ 0.21927212454470102, 0.2973488099627077, -0.027353592629877313 ] }, { "marker_id": 83, "link": "Board", "error_m": [ -4.6087973400568694e-05, -0.0001116780756738045, 8.883229150239216e-05 ], "error_norm_m": 0.000149957560302712, "predicted_m": [ 0.04418940131922932, 0.3392552255888784, -0.02722890580253765 ], "observed_m": [ 0.04423548929262989, 0.3393669036645522, -0.02731773809404004 ] }, { "marker_id": 84, "link": "Board", "error_m": [ 0.00014429318694753057, 4.653707740881474e-05, -0.00018367659734170802 ], "error_norm_m": 0.0002381665715088013, "predicted_m": [ 0.40751647274850145, 0.2584421254728671, -0.027333386748497092 ], "observed_m": [ 0.4073721795615539, 0.2583955883954583, -0.027149710151155384 ] }, { "marker_id": 85, "link": "Board", "error_m": [ 0.0002196497790956098, -9.674344608368024e-05, 0.0001327811523919413 ], "error_norm_m": 0.00027429209658214374, "predicted_m": [ 0.5045858680431479, -0.3127313743198765, -0.027384686266781685 ], "observed_m": [ 0.5043662182640523, -0.31263463087379284, -0.027517467419173627 ] }, { "marker_id": 86, "link": "Board", "error_m": [ -0.0003333425705983051, 0.000312435770258912, -8.694661077374502e-05 ], "error_norm_m": 0.00046507321255411687, "predicted_m": [ 0.3629176860221104, 0.2920337335200896, -0.027319554334911234 ], "observed_m": [ 0.3632510285927087, 0.2917212977498307, -0.02723260772413749 ] }, { "marker_id": 92, "link": "Board", "error_m": [ -0.00024214024744828588, 0.00027392273088788777, -0.00023537517513217213 ], "error_norm_m": 0.0004348183931251023, "predicted_m": [ 0.6451004759599377, -0.18482644075325802, -0.02741832121539404 ], "observed_m": [ 0.645342616207386, -0.1851003634841459, -0.027182946040261866 ] }, { "marker_id": 95, "link": "Board", "error_m": [ 0.0001627133697081895, 0.00016333602618762155, -3.6920090199100974e-05 ], "error_norm_m": 0.0002334895954702631, "predicted_m": [ 0.18604727567382928, -0.2740398890884687, -0.02729445345249692 ], "observed_m": [ 0.1858845623041211, -0.27420322511465633, -0.02725753336229782 ] }, { "marker_id": 96, "link": "Board", "error_m": [ 9.667972895738286e-05, 0.000131012866490976, -0.0001110178167737369 ], "error_norm_m": 0.00019706926908745142, "predicted_m": [ 0.36978042727380117, -0.1864665138012521, -0.027341823760050846 ], "observed_m": [ 0.3696837475448438, -0.18659752666774307, -0.02723080594327711 ] }, { "marker_id": 97, "link": "Board", "error_m": [ 0.0001251000479971509, 1.9811082550225123e-05, -0.00018148229829734186 ], "error_norm_m": 0.00022131047330839693, "predicted_m": [ 0.30435418361173533, -0.35964415474564254, -0.027330997505875237 ], "observed_m": [ 0.3042290835637382, -0.35966396582819277, -0.027149515207577895 ] }, { "marker_id": 102, "link": "Board", "error_m": [ -0.00015649929873307045, -0.00018317895266095618, 0.0004149198252484318 ], "error_norm_m": 0.0004797968534558109, "predicted_m": [ 0.6496990994289836, -0.22298660655169905, -0.027421223875208407 ], "observed_m": [ 0.6498555987277167, -0.2228034275990381, -0.02783614370045684 ] }, { "marker_id": 103, "link": "Board", "error_m": [ -0.00021218999603957178, 5.411165261615114e-05, 0.00010439866153011401 ], "error_norm_m": 0.00024259378783761924, "predicted_m": [ 0.1057203936540963, -0.18767699284094613, -0.02726843946520399 ], "observed_m": [ 0.10593258365013587, -0.18773110449356228, -0.027372838126734102 ] }, { "marker_id": 105, "link": "Board", "error_m": [ 0.00016946892703728622, 0.00022046122851415717, -0.00028446547997552224 ], "error_norm_m": 0.0003977982903518374, "predicted_m": [ 0.5248475444026527, -0.26623210488760707, -0.027388342481988553 ], "observed_m": [ 0.5246780754756154, -0.2664525661161212, -0.02710387700201303 ] }, { "marker_id": 114, "link": "Arm2", "error_m": [ 0.04785555046716314, -0.13564425735468563, -0.23392581580212662 ], "error_norm_m": 0.27461027941887, "predicted_m": [ 0.2936606010739545, -0.24001530015961764, 0.09340467453537749 ], "observed_m": [ 0.24580505060679134, -0.10437104280493201, 0.3273304903375041 ] }, { "marker_id": 120, "link": "Arm2", "error_m": [ 0.04788262798700088, -0.07311727652176464, -0.21315570643387988 ], "error_norm_m": 0.23037846551756544, "predicted_m": [ 0.2936489690999959, -0.1894292432437484, 0.04502026888254124 ], "observed_m": [ 0.245766341112995, -0.11631196672198377, 0.2581759753164211 ] }, { "marker_id": 198, "link": "Arm1", "error_m": [ -0.017855990472930905, -0.02165843429129421, -0.12234059158625295 ], "error_norm_m": 0.12551949857051714, "predicted_m": [ 0.17219091126195035, -0.051958150947973035, 0.02595717904293758 ], "observed_m": [ 0.19004690173488126, -0.030299716656678823, 0.14829777062919053 ] }, { "marker_id": 205, "link": "Board", "error_m": [ -7.827006555105598e-05, -1.5723466786909945e-07, -0.00019410506508836983 ], "error_norm_m": 0.00020929167249813757, "predicted_m": [ 0.7500215681455635, -0.0899913979600351, 0.0001565364085895002 ], "observed_m": [ 0.7500998382111146, -0.08999124072536722, 0.00035064147367787005 ] }, { "marker_id": 206, "link": "Board", "error_m": [ 0.0001723214437165943, -0.00020058313722163927, -5.010226272418499e-05 ], "error_norm_m": 0.00026914403510449496, "predicted_m": [ 0.6500244575075949, -0.009987792480277547, 0.00018775014210579212 ], "observed_m": [ 0.6498521360638783, -0.009787209343055908, 0.00023785240482997712 ] }, { "marker_id": 207, "link": "Board", "error_m": [ -0.0006736296828477872, -0.0004092821915490201, 0.000489352543507075 ], "error_norm_m": 0.0009277687070437453, "predicted_m": [ 0.7500244535754955, -0.00999139808446163, 0.00015993972198305006 ], "observed_m": [ 0.7506980832583433, -0.00958211589291261, -0.000329412821524025 ] }, { "marker_id": 208, "link": "Board", "error_m": [ 2.4878136654082894e-06, 6.380540848958949e-05, -2.1112330877272626e-05 ], "error_norm_m": 6.725362357842593e-05, "predicted_m": [ 0.350021583873961, -0.08997697554329875, 0.00026777808908046857 ], "observed_m": [ 0.3500190960602956, -0.09004078095178834, 0.0002888904199577412 ] }, { "marker_id": 210, "link": "Board", "error_m": [ -0.00010538576599690777, -0.00015961521187810024, 0.0003480133185675636 ], "error_norm_m": 0.00039711011752164454, "predicted_m": [ 0.020024121601079345, -0.0199650771583645, 0.0003625303747048736 ], "observed_m": [ 0.020129507367076253, -0.0198054619464864, 1.4517056137309997e-05 ] }, { "marker_id": 211, "link": "Board", "error_m": [ 0.0001469578689741735, 0.0002867114808692336, -2.2189613330008675e-05 ], "error_norm_m": 0.0003229434431218484, "predicted_m": [ 0.25002447323599236, -0.00997337006354121, 0.0002989918225967605 ], "observed_m": [ 0.2498775153670182, -0.010260081544410443, 0.00032118143592676916 ] }, { "marker_id": 214, "link": "Board", "error_m": [ 8.283695921235124e-05, -0.0003209125108052241, 7.378630046182819e-05 ], "error_norm_m": 0.0003395456074501701, "predicted_m": [ 0.350024469303893, -0.009976975667725292, 0.00027118140247401836 ], "observed_m": [ 0.3499416323446807, -0.009656063156920068, 0.00019739510201219018 ] }, { "marker_id": 215, "link": "Board", "error_m": [ -0.00015825323954737902, -0.0003304179563195092, 0.00024481502248794066 ], "error_norm_m": 0.0004406296732193284, "predicted_m": [ 0.2500215878060603, -0.08997336993911467, 0.00029558850920321063 ], "observed_m": [ 0.2501798410456077, -0.08964295198279516, 5.0773486715269985e-05 ] }, { "marker_id": 217, "link": "Board", "error_m": [ -9.756350373224532e-05, -0.0002824990933238264, 4.554800187618724e-05 ], "error_norm_m": 0.00030232266779751894, "predicted_m": [ 0.6500215720776629, -0.08998779235585101, 0.00018434682871224228 ], "observed_m": [ 0.6501191355813951, -0.08970529326252719, 0.00013879882683605504 ] }, { "marker_id": 218, "link": "Arm2", "error_m": [ 0.01118817941168343, -0.039821979476488856, -0.20384181296732556 ], "error_norm_m": 0.2079962742978346, "predicted_m": [ 0.273586515017211, -0.177161572954034, 0.057850982106516846 ], "observed_m": [ 0.26239833560552756, -0.13733959347754515, 0.2616927950738424 ] }, { "marker_id": 219, "link": "Arm2", "error_m": [ 0.011620790548289961, -0.13532181818407557, -0.23553890729081978 ], "error_norm_m": 0.27189265178993827, "predicted_m": [ 0.273604295320262, -0.25448597423971986, 0.13181000217585226 ], "observed_m": [ 0.261983504771972, -0.11916415605564429, 0.36734890946667204 ] }, { "marker_id": 229, "link": "Arm1", "error_m": [ -0.01776936942896376, -0.018973947858849066, -0.1912788789450674 ], "error_norm_m": 0.19303722624855307, "predicted_m": [ 0.17217750315316674, -0.13372211551331997, -0.011654706296360215 ], "observed_m": [ 0.1899468725821305, -0.1147481676544709, 0.1796241726487072 ] }, { "marker_id": 232, "link": "Ellbow", "error_m": [ -0.01800692530579867, 0.03827081400459513, -0.20455195283016422 ], "error_norm_m": 0.20887892658230667, "predicted_m": [ 0.26215948042537585, -0.11832007487230607, -0.07846995892841499 ], "observed_m": [ 0.2801664057311745, -0.1565908888769012, 0.12608199390174923 ] }, { "marker_id": 243, "link": "Arm1", "error_m": [ -0.017805302220136626, 0.009181505187796729, -0.21619926623480795 ], "error_norm_m": 0.21712542814035696, "predicted_m": [ 0.17216397336839523, -0.15089236767070563, -0.058078646863656574 ], "observed_m": [ 0.18996927558853186, -0.16007387285850236, 0.15812061937115138 ] }, { "marker_id": 244, "link": "Ellbow", "error_m": [ -0.018238042323563464, 0.008317653875592176, -0.18969958172139112 ], "error_norm_m": 0.1907557098989726, "predicted_m": [ 0.29716918271761705, -0.11909977734496742, -0.04348656559019413 ], "observed_m": [ 0.3154072250411805, -0.1274174312205596, 0.146213016131197 ] }, { "marker_id": 245, "link": "Ellbow", "error_m": [ -0.017708418866903997, 0.018432418640668913, -0.22120747891975834 ], "error_norm_m": 0.2226793454403572, "predicted_m": [ 0.26216127772134923, -0.14329071887614275, -0.06876985919687144 ], "observed_m": [ 0.2798696965882532, -0.16172313751681167, 0.1524376197228869 ] }, { "marker_id": 248, "link": "Ellbow", "error_m": [ -0.01785996246614774, 0.01818628821463955, -0.22090813518362545 ], "error_norm_m": 0.22237383732945087, "predicted_m": [ 0.22466127919594076, -0.1432893667745737, -0.06875943028932542 ], "observed_m": [ 0.2425212416620885, -0.16147565498921326, 0.15214870489430002 ] } ], "stage_idx": 2, "num_active_links": 5 } ], "markers": [ { "marker_id": 41, "link": "FingerA", "observed_position_m": [ 0.28648463421133263, -0.08516700624877138, 0.4387665667451245 ], "predicted_position_m": [ 0.23961473035427894, -0.3172463779593259, 0.16487011709316865 ], "error_m": [ -0.046869903857053696, -0.23207937171055454, -0.2738964496519558 ], "error_norm_m": 0.3620454222788648 }, { "marker_id": 42, "link": "FingerA", "observed_position_m": [ 0.24674333625717748, -0.07609312891294998, 0.4624311858528075 ], "predicted_position_m": [ 0.26805282065279734, -0.34226360993409616, 0.19339472269049798 ], "error_m": [ 0.02130948439561986, -0.26617048102114615, -0.26903646316230956 ], "error_norm_m": 0.3790533440073049 }, { "marker_id": 43, "link": "FingerB", "observed_position_m": [ 0.2818913797076821, -0.050742355986214384, 0.44754251855755117 ], "predicted_position_m": [ 0.24084196540661612, -0.3490093540219462, 0.16320061244586245 ], "error_m": [ -0.041049414301065956, -0.2982669980357318, -0.28434190611168875 ], "error_norm_m": 0.4141238656524594 }, { "marker_id": 46, "link": "Board", "observed_position_m": [ 0.5365063398442368, 0.1852907378785855, -0.027229978670303547 ], "predicted_position_m": [ 0.5367338354339872, 0.1854574664246485, -0.027372428046022967 ], "error_m": [ 0.00022749558975043715, 0.00016672854606300525, -0.0001424493757194202 ], "error_norm_m": 0.0003159817654090745 }, { "marker_id": 47, "link": "Board", "observed_position_m": [ 0.3444640415343687, -0.28655255893180714, -0.027268386539576344 ], "predicted_position_m": [ 0.34423681968725073, -0.28651559277433253, -0.02733897724756431 ], "error_m": [ -0.00022722184711798654, 3.696615747461607e-05, -7.059070798796571e-05 ], "error_norm_m": 0.0002407889379942318 }, { "marker_id": 51, "link": "Board", "observed_position_m": [ 0.16768518565432713, -0.17186769532141835, -0.027408542655437726 ], "predicted_position_m": [ 0.16781095495352877, -0.17204923158489382, -0.027285042032703932 ], "error_m": [ 0.0001257692992016335, -0.00018153626347547358, 0.0001235006227337937 ], "error_norm_m": 0.00025303307173952854 }, { "marker_id": 53, "link": "Board", "observed_position_m": [ 0.4862035016944278, 0.21211829909773533, -0.02725160905551344 ], "predicted_position_m": [ 0.4862748040371518, 0.21225928577083694, -0.027357254798042192 ], "error_m": [ 7.130234272401115e-05, 0.00014098667310161184, -0.00010564574252875172 ], "error_norm_m": 0.00019005864617176565 }, { "marker_id": 54, "link": "Board", "observed_position_m": [ 0.34237771844012127, -0.3305965306713935, -0.027181159078949354 ], "predicted_position_m": [ 0.3422752309744635, -0.33056552203597817, -0.027340306112767224 ], "error_m": [ -0.00010248746565777456, 3.10086354153305e-05, -0.0001591470338178705 ], "error_norm_m": 0.00019181500061335354 }, { "marker_id": 55, "link": "Board", "observed_position_m": [ 0.2837713484316793, -0.262676478888216, -0.02726546283965953 ], "predicted_position_m": [ 0.2837276862528287, -0.26255341106050645, -0.02732112986998667 ], "error_m": [ -4.3662178850600863e-05, 0.00012306782770954428, -5.566703032713893e-05 ], "error_norm_m": 0.0001419538458252207 }, { "marker_id": 56, "link": "Board", "observed_position_m": [ 0.49869858163110375, 0.16879225758781818, -0.027416482453348195 ], "predicted_position_m": [ 0.49870323207111505, 0.1686888376620026, -0.02736256516282041 ], "error_m": [ 4.6504400113001054e-06, -0.00010341992581558435, 5.3917290527786405e-05 ], "error_norm_m": 0.00011672352747350208 }, { "marker_id": 58, "link": "Board", "observed_position_m": [ 0.05000821959093458, -0.21803010393612932, -0.02735559793177564 ], "predicted_position_m": [ 0.0500992993777558, -0.21807498735661685, -0.027254264568621265 ], "error_m": [ 9.107978682122014e-05, -4.4883420487529246e-05, 0.00010133336315437669 ], "error_norm_m": 0.00014345208081528846 }, { "marker_id": 60, "link": "Board", "observed_position_m": [ 0.43407957424993837, 0.28339780050341795, -0.02707139854414311 ], "predicted_position_m": [ 0.434387387455271, 0.28383115660753294, -0.027339779281795797 ], "error_m": [ 0.0003078132053326299, 0.00043335610411499026, -0.00026838073765268755 ], "error_norm_m": 0.0005954617558616765 }, { "marker_id": 61, "link": "Board", "observed_position_m": [ -0.02241536863825125, 0.33622492240721746, -0.02744735224241156 ], "predicted_position_m": [ -0.022390718332872296, 0.3358676262054167, -0.027210533840224975 ], "error_m": [ 2.4650305378952353e-05, -0.0003572962018007497, 0.00023681840218658587 ], "error_norm_m": 0.0004293613501361356 }, { "marker_id": 62, "link": "Board", "observed_position_m": [ 0.40464834489460383, -0.17511220253723472, -0.027391766077689575 ], "predicted_position_m": [ 0.4047108367134055, -0.1750777732565088, -0.027351053393055314 ], "error_m": [ 6.249181880169097e-05, 3.442928072591722e-05, 4.071268463426078e-05 ], "error_norm_m": 8.214697485955381e-05 }, { "marker_id": 63, "link": "Board", "observed_position_m": [ 0.7773922233630552, -0.23623402166265448, -0.0276939576917976 ], "predicted_position_m": [ 0.7774086201147543, -0.23614121124834989, -0.02745729998238623 ], "error_m": [ 1.639675169906596e-05, 9.281041430458936e-05, 0.00023665770941137115 ], "error_norm_m": 0.00025473417103621444 }, { "marker_id": 64, "link": "Board", "observed_position_m": [ -0.02144348783273092, -0.18834614586710965, -0.02704392082597423 ], "predicted_position_m": [ -0.021259620108218497, -0.18819241444394433, -0.027233147915269186 ], "error_m": [ 0.00018386772451242303, 0.0001537314231653264, -0.000189227089294957 ], "error_norm_m": 0.0003053646703678318 }, { "marker_id": 66, "link": "Board", "observed_position_m": [ 0.2099068376379284, -0.363343711434939, -0.027335487622636254 ], "predicted_position_m": [ 0.2097540589298693, -0.36320074383854745, -0.027304840295885133 ], "error_m": [ -0.0001527787080590759, 0.0001429675963915411, 3.064732675112092e-05 ], "error_norm_m": 0.0002114718087385761 }, { "marker_id": 68, "link": "Board", "observed_position_m": [ 0.5737522294701956, 0.17050116947118127, -0.027343576842622043 ], "predicted_position_m": [ 0.5737533001737867, 0.17065613165299848, -0.027383353076530212 ], "error_m": [ 1.0707035911217133e-06, 0.00015496218181720867, -3.977623390816892e-05 ], "error_norm_m": 0.00015998929021546112 }, { "marker_id": 69, "link": "Board", "observed_position_m": [ 0.007431275203307982, -0.28101885840293, -0.026975025158393295 ], "predicted_position_m": [ 0.0076170251652527415, -0.2811734555978179, -0.02724513506559229 ], "error_m": [ 0.00018574996194475977, -0.00015459719488791768, -0.000270109907198994 ], "error_norm_m": 0.00036243993019084096 }, { "marker_id": 72, "link": "Board", "observed_position_m": [ 0.44087630000172356, 0.19413870433582595, -0.027038473556451725 ], "predicted_position_m": [ 0.4410141594805151, 0.19434091769516215, -0.027345430144094792 ], "error_m": [ 0.00013785947879152438, 0.00020221335933620632, -0.00030695658764306674 ], "error_norm_m": 0.0003925784320160497 }, { "marker_id": 75, "link": "Board", "observed_position_m": [ -0.02575396077190791, 0.19443136168756656, -0.027185617552484186 ], "predicted_position_m": [ -0.025675812791123125, 0.19461774468892448, -0.027215630633655438 ], "error_m": [ 7.814798078478388e-05, 0.00018638300135792596, -3.001308117125262e-05 ], "error_norm_m": 0.00020431963962703093 }, { "marker_id": 79, "link": "Board", "observed_position_m": [ 0.3124385148070436, -0.1586293801103713, -0.027529765974966588 ], "predicted_position_m": [ 0.31231141707197296, -0.15908444170311248, -0.027324676327597365 ], "error_m": [ -0.00012709773507063593, -0.0004550615927411683, 0.00020508964736922278 ], "error_norm_m": 0.0005150695592890795 }, { "marker_id": 82, "link": "Board", "observed_position_m": [ 0.21927212454470102, 0.2973488099627077, -0.027353592629877313 ], "predicted_position_m": [ 0.21918788030869862, 0.297268915846849, -0.027279359926455714 ], "error_m": [ -8.424423600239539e-05, -7.989411585868078e-05, 7.423270342159921e-05 ], "error_norm_m": 0.0001378065865833223 }, { "marker_id": 83, "link": "Board", "observed_position_m": [ 0.04423548929262989, 0.3393669036645522, -0.02731773809404004 ], "predicted_position_m": [ 0.04418940131922932, 0.3392552255888784, -0.02722890580253765 ], "error_m": [ -4.6087973400568694e-05, -0.0001116780756738045, 8.883229150239216e-05 ], "error_norm_m": 0.000149957560302712 }, { "marker_id": 84, "link": "Board", "observed_position_m": [ 0.4073721795615539, 0.2583955883954583, -0.027149710151155384 ], "predicted_position_m": [ 0.40751647274850145, 0.2584421254728671, -0.027333386748497092 ], "error_m": [ 0.00014429318694753057, 4.653707740881474e-05, -0.00018367659734170802 ], "error_norm_m": 0.0002381665715088013 }, { "marker_id": 85, "link": "Board", "observed_position_m": [ 0.5043662182640523, -0.31263463087379284, -0.027517467419173627 ], "predicted_position_m": [ 0.5045858680431479, -0.3127313743198765, -0.027384686266781685 ], "error_m": [ 0.0002196497790956098, -9.674344608368024e-05, 0.0001327811523919413 ], "error_norm_m": 0.00027429209658214374 }, { "marker_id": 86, "link": "Board", "observed_position_m": [ 0.3632510285927087, 0.2917212977498307, -0.02723260772413749 ], "predicted_position_m": [ 0.3629176860221104, 0.2920337335200896, -0.027319554334911234 ], "error_m": [ -0.0003333425705983051, 0.000312435770258912, -8.694661077374502e-05 ], "error_norm_m": 0.00046507321255411687 }, { "marker_id": 92, "link": "Board", "observed_position_m": [ 0.645342616207386, -0.1851003634841459, -0.027182946040261866 ], "predicted_position_m": [ 0.6451004759599377, -0.18482644075325802, -0.02741832121539404 ], "error_m": [ -0.00024214024744828588, 0.00027392273088788777, -0.00023537517513217213 ], "error_norm_m": 0.0004348183931251023 }, { "marker_id": 95, "link": "Board", "observed_position_m": [ 0.1858845623041211, -0.27420322511465633, -0.02725753336229782 ], "predicted_position_m": [ 0.18604727567382928, -0.2740398890884687, -0.02729445345249692 ], "error_m": [ 0.0001627133697081895, 0.00016333602618762155, -3.6920090199100974e-05 ], "error_norm_m": 0.0002334895954702631 }, { "marker_id": 96, "link": "Board", "observed_position_m": [ 0.3696837475448438, -0.18659752666774307, -0.02723080594327711 ], "predicted_position_m": [ 0.36978042727380117, -0.1864665138012521, -0.027341823760050846 ], "error_m": [ 9.667972895738286e-05, 0.000131012866490976, -0.0001110178167737369 ], "error_norm_m": 0.00019706926908745142 }, { "marker_id": 97, "link": "Board", "observed_position_m": [ 0.3042290835637382, -0.35966396582819277, -0.027149515207577895 ], "predicted_position_m": [ 0.30435418361173533, -0.35964415474564254, -0.027330997505875237 ], "error_m": [ 0.0001251000479971509, 1.9811082550225123e-05, -0.00018148229829734186 ], "error_norm_m": 0.00022131047330839693 }, { "marker_id": 102, "link": "Board", "observed_position_m": [ 0.6498555987277167, -0.2228034275990381, -0.02783614370045684 ], "predicted_position_m": [ 0.6496990994289836, -0.22298660655169905, -0.027421223875208407 ], "error_m": [ -0.00015649929873307045, -0.00018317895266095618, 0.0004149198252484318 ], "error_norm_m": 0.0004797968534558109 }, { "marker_id": 103, "link": "Board", "observed_position_m": [ 0.10593258365013587, -0.18773110449356228, -0.027372838126734102 ], "predicted_position_m": [ 0.1057203936540963, -0.18767699284094613, -0.02726843946520399 ], "error_m": [ -0.00021218999603957178, 5.411165261615114e-05, 0.00010439866153011401 ], "error_norm_m": 0.00024259378783761924 }, { "marker_id": 105, "link": "Board", "observed_position_m": [ 0.5246780754756154, -0.2664525661161212, -0.02710387700201303 ], "predicted_position_m": [ 0.5248475444026527, -0.26623210488760707, -0.027388342481988553 ], "error_m": [ 0.00016946892703728622, 0.00022046122851415717, -0.00028446547997552224 ], "error_norm_m": 0.0003977982903518374 }, { "marker_id": 114, "link": "Arm2", "observed_position_m": [ 0.24580505060679134, -0.10437104280493201, 0.3273304903375041 ], "predicted_position_m": [ 0.2936606010739545, -0.24001530015961764, 0.09340467453537749 ], "error_m": [ 0.04785555046716314, -0.13564425735468563, -0.23392581580212662 ], "error_norm_m": 0.27461027941887 }, { "marker_id": 120, "link": "Arm2", "observed_position_m": [ 0.245766341112995, -0.11631196672198377, 0.2581759753164211 ], "predicted_position_m": [ 0.2936489690999959, -0.1894292432437484, 0.04502026888254124 ], "error_m": [ 0.04788262798700088, -0.07311727652176464, -0.21315570643387988 ], "error_norm_m": 0.23037846551756544 }, { "marker_id": 198, "link": "Arm1", "observed_position_m": [ 0.19004690173488126, -0.030299716656678823, 0.14829777062919053 ], "predicted_position_m": [ 0.17219091126195035, -0.051958150947973035, 0.02595717904293758 ], "error_m": [ -0.017855990472930905, -0.02165843429129421, -0.12234059158625295 ], "error_norm_m": 0.12551949857051714 }, { "marker_id": 205, "link": "Board", "observed_position_m": [ 0.7500998382111146, -0.08999124072536722, 0.00035064147367787005 ], "predicted_position_m": [ 0.7500215681455635, -0.0899913979600351, 0.0001565364085895002 ], "error_m": [ -7.827006555105598e-05, -1.5723466786909945e-07, -0.00019410506508836983 ], "error_norm_m": 0.00020929167249813757 }, { "marker_id": 206, "link": "Board", "observed_position_m": [ 0.6498521360638783, -0.009787209343055908, 0.00023785240482997712 ], "predicted_position_m": [ 0.6500244575075949, -0.009987792480277547, 0.00018775014210579212 ], "error_m": [ 0.0001723214437165943, -0.00020058313722163927, -5.010226272418499e-05 ], "error_norm_m": 0.00026914403510449496 }, { "marker_id": 207, "link": "Board", "observed_position_m": [ 0.7506980832583433, -0.00958211589291261, -0.000329412821524025 ], "predicted_position_m": [ 0.7500244535754955, -0.00999139808446163, 0.00015993972198305006 ], "error_m": [ -0.0006736296828477872, -0.0004092821915490201, 0.000489352543507075 ], "error_norm_m": 0.0009277687070437453 }, { "marker_id": 208, "link": "Board", "observed_position_m": [ 0.3500190960602956, -0.09004078095178834, 0.0002888904199577412 ], "predicted_position_m": [ 0.350021583873961, -0.08997697554329875, 0.00026777808908046857 ], "error_m": [ 2.4878136654082894e-06, 6.380540848958949e-05, -2.1112330877272626e-05 ], "error_norm_m": 6.725362357842593e-05 }, { "marker_id": 210, "link": "Board", "observed_position_m": [ 0.020129507367076253, -0.0198054619464864, 1.4517056137309997e-05 ], "predicted_position_m": [ 0.020024121601079345, -0.0199650771583645, 0.0003625303747048736 ], "error_m": [ -0.00010538576599690777, -0.00015961521187810024, 0.0003480133185675636 ], "error_norm_m": 0.00039711011752164454 }, { "marker_id": 211, "link": "Board", "observed_position_m": [ 0.2498775153670182, -0.010260081544410443, 0.00032118143592676916 ], "predicted_position_m": [ 0.25002447323599236, -0.00997337006354121, 0.0002989918225967605 ], "error_m": [ 0.0001469578689741735, 0.0002867114808692336, -2.2189613330008675e-05 ], "error_norm_m": 0.0003229434431218484 }, { "marker_id": 214, "link": "Board", "observed_position_m": [ 0.3499416323446807, -0.009656063156920068, 0.00019739510201219018 ], "predicted_position_m": [ 0.350024469303893, -0.009976975667725292, 0.00027118140247401836 ], "error_m": [ 8.283695921235124e-05, -0.0003209125108052241, 7.378630046182819e-05 ], "error_norm_m": 0.0003395456074501701 }, { "marker_id": 215, "link": "Board", "observed_position_m": [ 0.2501798410456077, -0.08964295198279516, 5.0773486715269985e-05 ], "predicted_position_m": [ 0.2500215878060603, -0.08997336993911467, 0.00029558850920321063 ], "error_m": [ -0.00015825323954737902, -0.0003304179563195092, 0.00024481502248794066 ], "error_norm_m": 0.0004406296732193284 }, { "marker_id": 217, "link": "Board", "observed_position_m": [ 0.6501191355813951, -0.08970529326252719, 0.00013879882683605504 ], "predicted_position_m": [ 0.6500215720776629, -0.08998779235585101, 0.00018434682871224228 ], "error_m": [ -9.756350373224532e-05, -0.0002824990933238264, 4.554800187618724e-05 ], "error_norm_m": 0.00030232266779751894 }, { "marker_id": 218, "link": "Arm2", "observed_position_m": [ 0.26239833560552756, -0.13733959347754515, 0.2616927950738424 ], "predicted_position_m": [ 0.273586515017211, -0.177161572954034, 0.057850982106516846 ], "error_m": [ 0.01118817941168343, -0.039821979476488856, -0.20384181296732556 ], "error_norm_m": 0.2079962742978346 }, { "marker_id": 219, "link": "Arm2", "observed_position_m": [ 0.261983504771972, -0.11916415605564429, 0.36734890946667204 ], "predicted_position_m": [ 0.273604295320262, -0.25448597423971986, 0.13181000217585226 ], "error_m": [ 0.011620790548289961, -0.13532181818407557, -0.23553890729081978 ], "error_norm_m": 0.27189265178993827 }, { "marker_id": 229, "link": "Arm1", "observed_position_m": [ 0.1899468725821305, -0.1147481676544709, 0.1796241726487072 ], "predicted_position_m": [ 0.17217750315316674, -0.13372211551331997, -0.011654706296360215 ], "error_m": [ -0.01776936942896376, -0.018973947858849066, -0.1912788789450674 ], "error_norm_m": 0.19303722624855307 }, { "marker_id": 232, "link": "Ellbow", "observed_position_m": [ 0.2801664057311745, -0.1565908888769012, 0.12608199390174923 ], "predicted_position_m": [ 0.26215948042537585, -0.11832007487230607, -0.07846995892841499 ], "error_m": [ -0.01800692530579867, 0.03827081400459513, -0.20455195283016422 ], "error_norm_m": 0.20887892658230667 }, { "marker_id": 243, "link": "Arm1", "observed_position_m": [ 0.18996927558853186, -0.16007387285850236, 0.15812061937115138 ], "predicted_position_m": [ 0.17216397336839523, -0.15089236767070563, -0.058078646863656574 ], "error_m": [ -0.017805302220136626, 0.009181505187796729, -0.21619926623480795 ], "error_norm_m": 0.21712542814035696 }, { "marker_id": 244, "link": "Ellbow", "observed_position_m": [ 0.3154072250411805, -0.1274174312205596, 0.146213016131197 ], "predicted_position_m": [ 0.29716918271761705, -0.11909977734496742, -0.04348656559019413 ], "error_m": [ -0.018238042323563464, 0.008317653875592176, -0.18969958172139112 ], "error_norm_m": 0.1907557098989726 }, { "marker_id": 245, "link": "Ellbow", "observed_position_m": [ 0.2798696965882532, -0.16172313751681167, 0.1524376197228869 ], "predicted_position_m": [ 0.26216127772134923, -0.14329071887614275, -0.06876985919687144 ], "error_m": [ -0.017708418866903997, 0.018432418640668913, -0.22120747891975834 ], "error_norm_m": 0.2226793454403572 }, { "marker_id": 248, "link": "Ellbow", "observed_position_m": [ 0.2425212416620885, -0.16147565498921326, 0.15214870489430002 ], "predicted_position_m": [ 0.22466127919594076, -0.1432893667745737, -0.06875943028932542 ], "error_m": [ -0.01785996246614774, 0.01818628821463955, -0.22090813518362545 ], "error_norm_m": 0.22237383732945087 } ] }