{
  "schema_version": "1.0",
  "method": "deterministic_geometric_sequential_prefix",
  "created_utc": "2026-06-01T18:33:57Z",
  "root_pose": {
    "translation_m": [
      2.5489033214309842e-05,
      1.7092737860519014e-06,
      7.944340592782456e-05
    ],
    "rotation_matrix": [
      [
        0.9999999656176027,
        -1.7590809042794414e-05,
        0.0002616397474472569
      ],
      [
        1.7624736364087737e-05,
        0.9999999914375103,
        -0.00012967015251402915
      ],
      [
        -0.00026163746420406495,
        0.0001296747593872449,
        0.9999999573651464
      ]
    ],
    "euler_xyz_deg": [
      0.007429816697387264,
      0.014990722632427634,
      0.0010098230433085514
    ]
  },
  "movements": {
    "x": {
      "value_m": 0.04892022155170399,
      "value_mm": 48.92022155170399,
      "joint_type": "linear",
      "link": "Base"
    },
    "y": {
      "value_rad": -0.08836641382860355,
      "value_deg": -5.0630225630854575,
      "joint_type": "revolute",
      "link": "Arm1"
    },
    "z": {
      "value_rad": 1.4943262922107685,
      "value_deg": 85.61858975911002,
      "joint_type": "revolute",
      "link": "Ellbow"
    },
    "a": {
      "value_rad": 1.0937896539089307,
      "value_deg": 62.669530844056716,
      "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": [
        2.5489033214309842e-05,
        1.7092737860519014e-06,
        7.944340592782456e-05
      ],
      "rotation_matrix": [
        [
          0.9999999656176027,
          -1.7590809042794414e-05,
          0.0002616397474472569
        ],
        [
          1.7624736364087737e-05,
          0.9999999914375103,
          -0.00012967015251402915
        ],
        [
          -0.00026163746420406495,
          0.0001296747593872449,
          0.9999999573651464
        ]
      ]
    },
    "Base": {
      "translation_m": [
        0.04894989513883405,
        4.967573535481185e-07,
        0.01606664336105509
      ],
      "rotation_matrix": [
        [
          0.9999999656176027,
          -1.7590809042794414e-05,
          0.0002616397474472569
        ],
        [
          1.7624736364087737e-05,
          0.9999999914375103,
          -0.00012967015251402915
        ],
        [
          -0.00026163746420406495,
          0.0001296747593872449,
          0.9999999573651464
        ]
      ]
    },
    "Arm1": {
      "translation_m": [
        0.15895976533802886,
        0.10799659939674157,
        0.06105186619543805
      ],
      "rotation_matrix": [
        [
          0.999999965617595,
          5.567914774980563e-06,
          0.0002621713034107698
        ],
        [
          1.76247363640876e-05,
          0.9960867762916883,
          -0.088380618837987
        ],
        [
          -0.0002616374642040629,
          0.08838062041994954,
          0.9960867419457038
        ]
      ]
    },
    "Ellbow": {
      "translation_m": [
        0.1589583733593351,
        -0.14102509467618052,
        0.038956711090450666
      ],
      "rotation_matrix": [
        [
          0.9999999656157478,
          -0.0002609797679578342,
          2.558035815976095e-05
        ],
        [
          1.7624736364055045e-05,
          0.16421890960175983,
          0.9864239197305457
        ],
        [
          -0.0002616374642035796,
          -0.9864238853640793,
          0.16421890855521962
        ]
      ]
    },
    "Arm2": {
      "translation_m": [
        0.2489583702647524,
        -0.14102350844990774,
        0.038933163718672344
      ],
      "rotation_matrix": [
        [
          0.45914475390133697,
          -0.0002609797679575519,
          -0.8883614280511924
        ],
        [
          0.876320669094017,
          0.1642189096015822,
          0.45287330970624
        ],
        [
          0.14576755427581817,
          -0.9864238853630123,
          0.07562895280006258
        ]
      ]
    },
    "Hand": {
      "translation_m": [
        0.2490236152067418,
        -0.1820782358503033,
        0.2855391350594254
      ],
      "rotation_matrix": [
        [
          0.45914475390133697,
          -0.0002609797679575519,
          -0.8883614280511924
        ],
        [
          0.876320669094017,
          0.1642189096015822,
          0.45287330970624
        ],
        [
          0.14576755427581817,
          -0.9864238853630123,
          0.07562895280006258
        ]
      ]
    },
    "Palm": {
      "translation_m": [
        0.2490236152067418,
        -0.1820782358503033,
        0.2855391350594254
      ],
      "rotation_matrix": [
        [
          0.45914475390133697,
          -0.0002609797679575519,
          -0.8883614280511924
        ],
        [
          0.876320669094017,
          0.1642189096015822,
          0.45287330970624
        ],
        [
          0.14576755427581817,
          -0.9864238853630123,
          0.07562895280006258
        ]
      ]
    },
    "FingerA": {
      "translation_m": [
        0.25086932851422566,
        -0.18432061500998262,
        0.3206470412642341
      ],
      "rotation_matrix": [
        [
          0.45914475390133697,
          -0.0002609797679575519,
          -0.8883614280511924
        ],
        [
          0.876320669094017,
          0.1642189096015822,
          0.45287330970624
        ],
        [
          0.14576755427581817,
          -0.9864238853630123,
          0.07562895280006258
        ]
      ]
    },
    "FingerB": {
      "translation_m": [
        0.24719617048301495,
        -0.19133118036273475,
        0.31948090083002756
      ],
      "rotation_matrix": [
        [
          0.45914475390133697,
          -0.0002609797679575519,
          -0.8883614280511924
        ],
        [
          0.876320669094017,
          0.1642189096015822,
          0.45287330970624
        ],
        [
          0.14576755427581817,
          -0.9864238853630123,
          0.07562895280006258
        ]
      ]
    }
  },
  "stage_reports": [
    {
      "method": "deterministic_geometric_prefix",
      "active_links": [
        "Board",
        "Base",
        "Arm1"
      ],
      "active_observations": 44,
      "joint_updates": [
        {
          "pass": 0,
          "updates": [
            {
              "link": "Base",
              "joint_variable": "x",
              "joint_type": "linear",
              "old": 0.0,
              "new": 0.04985624739185442,
              "info": {
                "reason": "weighted_projection",
                "used_markers": 3,
                "axis_world": [
                  0.9999999656166024,
                  1.7624736364070108e-05,
                  -0.0002616374642038032
                ],
                "per_marker": [
                  {
                    "marker_id": 198,
                    "q_i": 0.04991735366699347,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 229,
                    "q_i": 0.049922381582998346,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 243,
                    "q_i": 0.04972900692557143,
                    "weight": 1.0
                  }
                ]
              }
            },
            {
              "link": "Arm1",
              "joint_variable": "y",
              "joint_type": "revolute",
              "old": 0.0,
              "new": 0.03517561517938228,
              "info": {
                "reason": "2d_alignment+normal_tiebreak",
                "used_markers": 3,
                "axis_world": [
                  -0.9999999656166024,
                  -1.7624736364070108e-05,
                  0.0002616374642038032
                ],
                "axis_id": 0,
                "theta_rad": 0.03517561517938248,
                "theta_alt_rad": -3.1064170384104113,
                "score_theta": 0.0009122065391979505,
                "score_theta_alt": 0.8867671827777639,
                "best_score": 0.0009122065391979505,
                "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": 0.04985624739185442,
              "new": 0.04985624739185441,
              "info": {
                "reason": "weighted_projection",
                "used_markers": 3,
                "axis_world": [
                  0.9999999656166024,
                  1.7624736364070108e-05,
                  -0.0002616374642038032
                ],
                "per_marker": [
                  {
                    "marker_id": 198,
                    "q_i": 0.04991735366699348,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 229,
                    "q_i": 0.049922381582998346,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 243,
                    "q_i": 0.049729006925571424,
                    "weight": 1.0
                  }
                ]
              }
            },
            {
              "link": "Arm1",
              "joint_variable": "y",
              "joint_type": "revolute",
              "old": 0.03517561517938228,
              "new": 0.03517561517938228,
              "info": {
                "reason": "2d_alignment+normal_tiebreak",
                "used_markers": 3,
                "axis_world": [
                  -0.9999999656166024,
                  -1.7624736364070108e-05,
                  0.0002616374642038032
                ],
                "axis_id": 0,
                "theta_rad": 0.03517561517938248,
                "theta_alt_rad": -3.1064170384104113,
                "score_theta": 0.0009122065391979505,
                "score_theta_alt": 0.8867671827777639,
                "best_score": 0.0009122065391979505,
                "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,
          73,
          75,
          79,
          82,
          83,
          84,
          85,
          86,
          92,
          95,
          96,
          97,
          102,
          103,
          105
        ]
      },
      "marker_stats": {
        "num_markers_used": 44,
        "mean_error_m": 0.0013936047712252637,
        "rms_error_m": 0.004410182585613019,
        "median_error_m": 0.0002721472868352096,
        "worst_error_m": 0.02017381595076261
      },
      "marker_reports": [
        {
          "marker_id": 46,
          "link": "Board",
          "error_m": [
            0.00023119187005882225,
            0.0001638179674103568,
            -0.00010463200703492853
          ],
          "error_norm_m": 0.0003020494398669089,
          "predicted_m": [
            0.5367250657751038,
            0.18545470705337558,
            -0.027336931986172867
          ],
          "observed_m": [
            0.536493873905045,
            0.18529088908596522,
            -0.02723229997913794
          ]
        },
        {
          "marker_id": 47,
          "link": "Board",
          "error_m": [
            -0.00014744286046136645,
            0.00012173977173757233,
            -0.0001348842178661505
          ],
          "error_norm_m": 0.0002339951310457321,
          "predicted_m": [
            0.3442533749030795,
            -0.2865286813145559,
            -0.02734777589999846
          ],
          "observed_m": [
            0.34440081776354087,
            -0.28665042108629346,
            -0.02721289168213231
          ]
        },
        {
          "marker_id": 51,
          "link": "Board",
          "error_m": [
            5.309812312059847e-05,
            -0.00020886326021332668,
            0.0002325329052500283
          ],
          "error_norm_m": 0.00031704072951261117,
          "predicted_m": [
            0.16782136752516283,
            -0.1720717918268552,
            -0.027286772629229475
          ],
          "observed_m": [
            0.16776826940204223,
            -0.17186292856664187,
            -0.027519305534479503
          ]
        },
        {
          "marker_id": 53,
          "link": "Board",
          "error_m": [
            -3.082762285167018e-05,
            5.734226533921083e-05,
            -8.574129649907211e-05
          ],
          "error_norm_m": 0.00010765708360465219,
          "predicted_m": [
            0.4862645960763571,
            0.2122538174797039,
            -0.02732025447617755
          ],
          "observed_m": [
            0.48629542369920875,
            0.2121964752143647,
            -0.02723451317967848
          ]
        },
        {
          "marker_id": 54,
          "link": "Board",
          "error_m": [
            -8.689741467815537e-05,
            2.084652103728768e-05,
            -0.00013996332264986158
          ],
          "error_norm_m": 0.00016605863363370973,
          "predicted_m": [
            0.34229414984560724,
            -0.33057871548186146,
            -0.027352975263719628
          ],
          "observed_m": [
            0.3423810472602854,
            -0.33059956200289875,
            -0.027213011941069766
          ]
        },
        {
          "marker_id": 55,
          "link": "Board",
          "error_m": [
            -3.283680479632123e-05,
            8.93325736997519e-05,
            -4.533787401645936e-05
          ],
          "error_norm_m": 0.00010542337166580117,
          "predicted_m": [
            0.2837429555077737,
            -0.2625697479925105,
            -0.027328837209804554
          ],
          "observed_m": [
            0.28377579231257,
            -0.26265908056621023,
            -0.027283499335788094
          ]
        },
        {
          "marker_id": 56,
          "link": "Board",
          "error_m": [
            5.6683143949021186e-05,
            -4.187347286849219e-05,
            -1.0361057953760244e-05
          ],
          "error_norm_m": 7.123003622022796e-05,
          "predicted_m": [
            0.4986953620805339,
            0.16868403692824455,
            -0.027329156559124112
          ],
          "observed_m": [
            0.49863867893658487,
            0.16872591040111304,
            -0.02731879550117035
          ]
        },
        {
          "marker_id": 58,
          "link": "Board",
          "error_m": [
            0.00010898286639899474,
            -0.00013531298462457486,
            2.4156409186272543e-05
          ],
          "error_norm_m": 0.00017541493973241332,
          "predicted_m": [
            0.05011218127725505,
            -0.21810386604044124,
            -0.027261944212492607
          ],
          "observed_m": [
            0.050003198410856056,
            -0.21796855305581667,
            -0.02728610062167888
          ]
        },
        {
          "marker_id": 60,
          "link": "Board",
          "error_m": [
            1.692622537791122e-05,
            4.309980570010863e-05,
            1.0628662820987705e-05
          ],
          "error_norm_m": 4.750851324018894e-05,
          "predicted_m": [
            0.43437333888625645,
            0.2838229023193166,
            -0.02729739728563066
          ],
          "observed_m": [
            0.43435641266087854,
            0.2837798025136165,
            -0.027308025948451647
          ]
        },
        {
          "marker_id": 61,
          "link": "Board",
          "error_m": [
            2.1550213066802437e-05,
            -0.00039134191686995834,
            0.0003126923269400131
          ],
          "error_norm_m": 0.0005013874738262195,
          "predicted_m": [
            -0.0224075604824385,
            0.3358348512468195,
            -0.0271711408437482
          ],
          "observed_m": [
            -0.0224291106955053,
            0.33622619316368946,
            -0.027483833170688213
          ]
        },
        {
          "marker_id": 62,
          "link": "Board",
          "error_m": [
            4.5764718946572636e-05,
            3.2876613692278678e-06,
            6.080875086055329e-05
          ],
          "error_norm_m": 7.617691513023049e-05,
          "predicted_m": [
            0.4047214125042162,
            -0.1750876165009518,
            -0.027349146162272766
          ],
          "observed_m": [
            0.40467564778526965,
            -0.17509090416232104,
            -0.02740995491313332
          ]
        },
        {
          "marker_id": 63,
          "link": "Board",
          "error_m": [
            5.723858885597899e-05,
            9.356691776807313e-05,
            0.00018386234045146901
          ],
          "error_norm_m": 0.0002140943352616623,
          "predicted_m": [
            0.7774224736087888,
            -0.2361310472389689,
            -0.02745457508924221
          ],
          "observed_m": [
            0.7773652350199328,
            -0.23622461415673698,
            -0.02763843742969368
          ]
        },
        {
          "marker_id": 64,
          "link": "Board",
          "error_m": [
            4.1423947968247804e-05,
            -0.00014205404642433916,
            -0.00011512492785336476
          ],
          "error_norm_m": 0.0001874807845728379,
          "predicted_m": [
            -0.021248341882591285,
            -0.18822512399747535,
            -0.027239399081236515
          ],
          "observed_m": [
            -0.021289765830559533,
            -0.188083069951051,
            -0.02712427415338315
          ]
        },
        {
          "marker_id": 66,
          "link": "Board",
          "error_m": [
            -0.00012599533402873897,
            0.00010588321984128513,
            1.9222121424126992e-05
          ],
          "error_norm_m": 0.00016569722506130062,
          "predicted_m": [
            0.2097747285659698,
            -0.3632210508324448,
            -0.027322535651109706
          ],
          "observed_m": [
            0.20990072389999853,
            -0.3633269340522861,
            -0.027341757772533833
          ]
        },
        {
          "marker_id": 68,
          "link": "Board",
          "error_m": [
            7.825327892119205e-06,
            0.00015493004001096433,
            -6.2036268805194805e-06
          ],
          "error_norm_m": 0.00015525153152510572,
          "predicted_m": [
            0.5737453248462413,
            0.1706553596478406,
            -0.027348536991536634
          ],
          "observed_m": [
            0.5737374995183492,
            0.17050042960782963,
            -0.027342333364656114
          ]
        },
        {
          "marker_id": 69,
          "link": "Board",
          "error_m": [
            -5.922502571516393e-05,
            -0.00038388839300179667,
            0.0002968696214815658
          ],
          "error_norm_m": 0.0004888859520492196,
          "predicted_m": [
            0.007633292717869882,
            -0.28120461419894877,
            -0.027259012330330554
          ],
          "observed_m": [
            0.007692517743585046,
            -0.28082072580594697,
            -0.02755588195181212
          ]
        },
        {
          "marker_id": 72,
          "link": "Board",
          "error_m": [
            0.00038155310689075295,
            0.0003161964191133182,
            -0.00039087258499147584
          ],
          "error_norm_m": 0.0006311452499512217,
          "predicted_m": [
            0.4410049128598024,
            0.1943330199375759,
            -0.027310736536235895
          ],
          "observed_m": [
            0.44062335975291167,
            0.19401682351846258,
            -0.02691986395124442
          ]
        },
        {
          "marker_id": 73,
          "link": "Board",
          "error_m": [
            -1.0809524911947754e-05,
            0.0005209083581688145,
            -0.00047217776510506335
          ],
          "error_norm_m": 0.0007031459345673303,
          "predicted_m": [
            0.2217424789700998,
            0.3331191543494928,
            -0.027235372345979156
          ],
          "observed_m": [
            0.22175328849501175,
            0.332598245991324,
            -0.026763194580874092
          ]
        },
        {
          "marker_id": 75,
          "link": "Board",
          "error_m": [
            2.089296773622948e-05,
            5.2785255821891086e-05,
            0.00012760099364308997
          ],
          "error_norm_m": 0.00013965963236280373,
          "predicted_m": [
            -0.02568507566788694,
            0.1945847946471359,
            -0.02718859923262906
          ],
          "observed_m": [
            -0.025705968635623168,
            0.19453200939131401,
            -0.02731620022627215
          ]
        },
        {
          "marker_id": 79,
          "link": "Board",
          "error_m": [
            -8.855756673514792e-05,
            -0.00040320196247570217,
            0.00020058987954125682
          ],
          "error_norm_m": 0.00045896684514753745,
          "predicted_m": [
            0.31232113440411313,
            -0.15909924516350613,
            -0.027322897361177708
          ],
          "observed_m": [
            0.3124096919708483,
            -0.15869604320103042,
            -0.027523487240718965
          ]
        },
        {
          "marker_id": 82,
          "link": "Board",
          "error_m": [
            -6.158694231089834e-05,
            -8.580082970072178e-05,
            8.957893097094605e-05
          ],
          "error_norm_m": 0.00013848869525862282,
          "predicted_m": [
            0.21917311004078294,
            0.2972491093610568,
            -0.027239351371315373
          ],
          "observed_m": [
            0.21923469698309384,
            0.29733491019075753,
            -0.02732893030228632
          ]
        },
        {
          "marker_id": 83,
          "link": "Board",
          "error_m": [
            -5.426234104181915e-05,
            -0.00011111020260934357,
            0.00016511898797014202
          ],
          "error_norm_m": 0.00020628659425060074,
          "predicted_m": [
            0.04417237759553884,
            0.3392260246727398,
            -0.027188121068680585
          ],
          "observed_m": [
            0.04422663993658066,
            0.33933713487534917,
            -0.027353240056650727
          ]
        },
        {
          "marker_id": 84,
          "link": "Board",
          "error_m": [
            0.00014352441574932984,
            6.221915725929117e-05,
            -3.7946691859542386e-05
          ],
          "error_norm_m": 0.00016096717947869355,
          "predicted_m": [
            0.40750378644075314,
            0.25843242896005214,
            -0.02729365952910834
          ],
          "observed_m": [
            0.4073602620250038,
            0.25837020980279285,
            -0.027255712837248796
          ]
        },
        {
          "marker_id": 85,
          "link": "Board",
          "error_m": [
            0.00018448005383175925,
            -0.0001929986884540713,
            0.00010304636704261058
          ],
          "error_norm_m": 0.0002861816516959829,
          "predicted_m": [
            0.5046038304449671,
            -0.3127358549636571,
            -0.027393128242827122
          ],
          "observed_m": [
            0.5044193503911354,
            -0.312542856275203,
            -0.027496174609869733
          ]
        },
        {
          "marker_id": 86,
          "link": "Board",
          "error_m": [
            -0.00041302127011444423,
            -0.00022729111282671077,
            0.00012288976179672742
          ],
          "error_norm_m": 0.00048718550172537946,
          "predicted_m": [
            0.36290319709893226,
            0.2920216426091962,
            -0.027277634723037018
          ],
          "observed_m": [
            0.3633162183690467,
            0.29224893372202293,
            -0.027400524484833745
          ]
        },
        {
          "marker_id": 92,
          "link": "Board",
          "error_m": [
            -0.0002249958117158668,
            0.0002764089032140371,
            -0.0002382375432670586
          ],
          "error_norm_m": 0.0004286981736462057,
          "predicted_m": [
            0.645111575573512,
            -0.1848233796071786,
            -0.027413304224449212
          ],
          "observed_m": [
            0.6453365713852278,
            -0.18509978851039263,
            -0.027175066681182154
          ]
        },
        {
          "marker_id": 95,
          "link": "Board",
          "error_m": [
            0.00016437102236044332,
            0.00011049113339506311,
            -1.4708207874688378e-05
          ],
          "error_norm_m": 0.00019860124604248594,
          "predicted_m": [
            0.18606316098464215,
            -0.27406146947837556,
            -0.02730477042528646
          ],
          "observed_m": [
            0.1858987899622817,
            -0.2741719606117706,
            -0.027290062217411773
          ]
        },
        {
          "marker_id": 96,
          "link": "Board",
          "error_m": [
            7.649016640010053e-05,
            9.828472211886874e-05,
            -9.089716310750964e-05
          ],
          "error_norm_m": 0.00015418471525703036,
          "predicted_m": [
            0.36979161406450833,
            -0.18647823203546626,
            -0.027341484161157538
          ],
          "observed_m": [
            0.36971512389810823,
            -0.18657651675758513,
            -0.02725058699805003
          ]
        },
        {
          "marker_id": 97,
          "link": "Board",
          "error_m": [
            0.00020382614999203685,
            7.179636906051723e-05,
            -0.0002027098903542475
          ],
          "error_norm_m": 0.00029629565922956305,
          "predicted_m": [
            0.3043746626901148,
            -0.35965938356286725,
            -0.027346824913079992
          ],
          "observed_m": [
            0.3041708365401228,
            -0.35973117993192777,
            -0.027144115022725745
          ]
        },
        {
          "marker_id": 102,
          "link": "Board",
          "error_m": [
            -0.00013600903849941837,
            -0.000190094809003033,
            0.00038261680713974275
          ],
          "error_norm_m": 0.000448363821097607,
          "predicted_m": [
            0.649712246680626,
            -0.22298329820664672,
            -0.027419456145602768
          ],
          "observed_m": [
            0.6498482557191254,
            -0.2227932033976437,
            -0.02780207295274251
          ]
        },
        {
          "marker_id": 103,
          "link": "Board",
          "error_m": [
            -4.772273536859939e-06,
            0.0001558927351641426,
            -3.216445323070416e-07
          ],
          "error_norm_m": 0.0001559660954402375,
          "predicted_m": [
            0.1057316446043112,
            -0.18770288601290436,
            -0.027272554375566267
          ],
          "observed_m": [
            0.10573641687784806,
            -0.1878587787480685,
            -0.02727223273103396
          ]
        },
        {
          "marker_id": 105,
          "link": "Board",
          "error_m": [
            0.0002116687607344181,
            0.00022434563679629704,
            -0.00030475494066066824
          ],
          "error_norm_m": 0.0004336014332050435,
          "predicted_m": [
            0.5248630117757593,
            -0.2662354982846541,
            -0.02739239914154039
          ],
          "observed_m": [
            0.5246513430150249,
            -0.2664598439214504,
            -0.02708764420087972
          ]
        },
        {
          "marker_id": 198,
          "link": "Arm1",
          "error_m": [
            -5.82140400769704e-05,
            0.002413605108835655,
            0.011216957502869537
          ],
          "error_norm_m": 0.011473840425813881,
          "predicted_m": [
            0.15990920623900048,
            -0.05067877967583175,
            0.1016363309883129
          ],
          "observed_m": [
            0.15996742027907745,
            -0.05309238478466741,
            0.09041937348544336
          ]
        },
        {
          "marker_id": 205,
          "link": "Board",
          "error_m": [
            -5.006671163554355e-05,
            2.1165048207510972e-06,
            -0.0002114886335585359
          ],
          "error_norm_m": 0.00021734442097994972,
          "predicted_m": [
            0.7500271249111544,
            -0.08998511030436256,
            0.0001715445666394677
          ],
          "observed_m": [
            0.75007719162279,
            -0.08998722680918331,
            0.0003830332001980036
          ]
        },
        {
          "marker_id": 206,
          "link": "Board",
          "error_m": [
            -0.00010244785427382386,
            -0.0004777894848594748,
            0.00017382965480367723
          ],
          "error_norm_m": 0.0005186473788391864,
          "predicted_m": [
            0.6500257210846707,
            -0.009986873462998147,
            0.0002080822938108538
          ],
          "observed_m": [
            0.6501281689389445,
            -0.009509083978138672,
            3.4252639007176556e-05
          ]
        },
        {
          "marker_id": 207,
          "link": "Board",
          "error_m": [
            -0.0006581080226497615,
            -0.000433861471745239,
            0.0005291329254721933
          ],
          "error_norm_m": 0.0009493806396591862,
          "predicted_m": [
            0.750025717646431,
            -0.009985110989361739,
            0.0001819185473904473
          ],
          "observed_m": [
            0.7506838256690808,
            -0.0095512495176165,
            -0.00034721437808174607
          ]
        },
        {
          "marker_id": 208,
          "link": "Board",
          "error_m": [
            3.670025145363631e-05,
            2.9199448923003524e-05,
            -5.1625268070184236e-05
          ],
          "error_norm_m": 6.974729082541923e-05,
          "predicted_m": [
            0.3500271386641134,
            -0.08999216019890818,
            0.0002761995523210937
          ],
          "observed_m": [
            0.34999043841265975,
            -0.09002135964783119,
            0.0003278248203912779
          ]
        },
        {
          "marker_id": 210,
          "link": "Board",
          "error_m": [
            -4.198331445853104e-05,
            0.0003066847233939157,
            -9.23607503197693e-05
          ],
          "error_norm_m": 0.000323030380081746,
          "predicted_m": [
            0.020025918653671454,
            -0.019997976961282627,
            0.0003716171486655422
          ],
          "observed_m": [
            0.020067901968129985,
            -0.020304661684676543,
            0.0004639778989853115
          ]
        },
        {
          "marker_id": 211,
          "link": "Board",
          "error_m": [
            0.00010807411786095678,
            0.00027529169532617206,
            6.0644706240166064e-05
          ],
          "error_norm_m": 0.0003018995078862136,
          "predicted_m": [
            0.25002573483762963,
            -0.009993923357543783,
            0.0003127372794924798
          ],
          "observed_m": [
            0.24991766071976868,
            -0.010269215052869955,
            0.0002520925732523137
          ]
        },
        {
          "marker_id": 214,
          "link": "Board",
          "error_m": [
            7.23100831970247e-05,
            0.00027996229800264505,
            -0.0002693511552954145
          ],
          "error_norm_m": 0.00039516791531430913,
          "predicted_m": [
            0.35002573139938997,
            -0.009992160883907374,
            0.00028657353307207323
          ],
          "observed_m": [
            0.34995342131619295,
            -0.01027212318191002,
            0.0005559246883674878
          ]
        },
        {
          "marker_id": 215,
          "link": "Board",
          "error_m": [
            0.00020047129502520633,
            8.830003371299022e-05,
            -0.0001365160957813505
          ],
          "error_norm_m": 0.0002581129219744362,
          "predicted_m": [
            0.25002714210235305,
            -0.0899939226725446,
            0.00030236329874150017
          ],
          "observed_m": [
            0.24982667080732784,
            -0.09008222270625758,
            0.0004388793945228507
          ]
        },
        {
          "marker_id": 217,
          "link": "Board",
          "error_m": [
            -0.00011520168245726659,
            -0.00029924750252879884,
            6.039451249597691e-05
          ],
          "error_norm_m": 0.0003262943342295956,
          "predicted_m": [
            0.6500271283493941,
            -0.08998687277799897,
            0.0001977083130598742
          ],
          "observed_m": [
            0.6501423300318514,
            -0.08968762527547017,
            0.00013731380056389728
          ]
        },
        {
          "marker_id": 229,
          "link": "Arm1",
          "error_m": [
            -6.160350608286347e-05,
            0.002525092984778876,
            0.017486759363762733
          ],
          "error_norm_m": 0.017668238243239896,
          "predicted_m": [
            0.1599116165621809,
            -0.14062351549675475,
            0.10478981989660092
          ],
          "observed_m": [
            0.15997322006826376,
            -0.14314860848153363,
            0.08730306053283819
          ]
        },
        {
          "marker_id": 243,
          "link": "Arm1",
          "error_m": [
            0.00013250917469836976,
            0.0004569669728789749,
            0.020168204494192397
          ],
          "error_norm_m": 0.02017381595076261,
          "predicted_m": [
            0.15990342383606682,
            -0.17682838087230598,
            0.07103766950558957
          ],
          "observed_m": [
            0.15977091466136845,
            -0.17728534784518496,
            0.05086946501139717
          ]
        }
      ],
      "stage_idx": 0,
      "num_active_links": 3
    },
    {
      "method": "deterministic_geometric_prefix",
      "active_links": [
        "Board",
        "Base",
        "Arm1",
        "Ellbow"
      ],
      "active_observations": 48,
      "joint_updates": [
        {
          "pass": 0,
          "updates": [
            {
              "link": "Base",
              "joint_variable": "x",
              "joint_type": "linear",
              "old": 0.04985624739185441,
              "new": 0.05008717839331065,
              "info": {
                "reason": "weighted_projection",
                "used_markers": 7,
                "axis_world": [
                  0.9999999656166024,
                  1.7624736364070108e-05,
                  -0.0002616374642038032
                ],
                "per_marker": [
                  {
                    "marker_id": 198,
                    "q_i": 0.04991735366699348,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 229,
                    "q_i": 0.049922381582998346,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 243,
                    "q_i": 0.049729006925571424,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 244,
                    "q_i": 0.05089028111808685,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 245,
                    "q_i": 0.050195348215974565,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 248,
                    "q_i": 0.04997451428991218,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 232,
                    "q_i": 0.049981362953637684,
                    "weight": 1.0
                  }
                ]
              }
            },
            {
              "link": "Arm1",
              "joint_variable": "y",
              "joint_type": "revolute",
              "old": 0.03517561517938228,
              "new": -0.017243939524830054,
              "info": {
                "reason": "2d_alignment+normal_tiebreak",
                "used_markers": 7,
                "axis_world": [
                  -0.9999999656166024,
                  -1.7624736364070108e-05,
                  0.0002616374642038032
                ],
                "axis_id": 0,
                "theta_rad": -0.01724393952482995,
                "theta_alt_rad": 3.124348714064963,
                "score_theta": 0.007392953748833335,
                "score_theta_alt": 1.9690648712402221,
                "best_score": 0.007392953748833335,
                "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": 1.6185599976410803,
              "info": {
                "reason": "2d_alignment+normal_tiebreak",
                "used_markers": 3,
                "axis_world": [
                  -0.9999999656166024,
                  -1.7624736364070108e-05,
                  0.0002616374642038032
                ],
                "axis_id": 0,
                "theta_rad": -1.5230326559487128,
                "theta_alt_rad": 1.6185599976410803,
                "score_theta": 0.19652840249330344,
                "score_theta_alt": 0.1188463797823421,
                "best_score": 0.1188463797823421,
                "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": 0.05008717839331065,
              "new": 0.05008717839341761,
              "info": {
                "reason": "weighted_projection",
                "used_markers": 7,
                "axis_world": [
                  0.9999999656166024,
                  1.7624736364070108e-05,
                  -0.0002616374642038032
                ],
                "per_marker": [
                  {
                    "marker_id": 198,
                    "q_i": 0.049917353666993465,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 229,
                    "q_i": 0.04992238158299834,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 243,
                    "q_i": 0.04972900692557142,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 244,
                    "q_i": 0.050890281118348646,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 245,
                    "q_i": 0.05019534821616308,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 248,
                    "q_i": 0.049974514290022115,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 232,
                    "q_i": 0.04998136295382621,
                    "weight": 1.0
                  }
                ]
              }
            },
            {
              "link": "Arm1",
              "joint_variable": "y",
              "joint_type": "revolute",
              "old": -0.017243939524830054,
              "new": 0.03332874108695938,
              "info": {
                "reason": "2d_alignment+normal_tiebreak",
                "used_markers": 7,
                "axis_world": [
                  -0.9999999656166024,
                  -1.7624736364070108e-05,
                  0.0002616374642038032
                ],
                "axis_id": 0,
                "theta_rad": 0.033328741086959254,
                "theta_alt_rad": -3.1082639125028333,
                "score_theta": 0.0021671255381716338,
                "score_theta_alt": 2.094864341593537,
                "best_score": 0.0021671255381716338,
                "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": 1.6185599976410803,
              "new": -1.2018737301676388,
              "info": {
                "reason": "2d_alignment+normal_tiebreak",
                "used_markers": 3,
                "axis_world": [
                  -0.9999999656166024,
                  -1.7624736364070108e-05,
                  0.0002616374642038032
                ],
                "axis_id": 0,
                "theta_rad": -1.2018737301676388,
                "theta_alt_rad": 1.939718923422154,
                "score_theta": 0.14537083593036396,
                "score_theta_alt": 0.17327430611201536,
                "best_score": 0.14537083593036396,
                "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,
          73,
          75,
          79,
          82,
          83,
          84,
          85,
          86,
          92,
          95,
          96,
          97,
          102,
          103,
          105
        ]
      },
      "marker_stats": {
        "num_markers_used": 48,
        "mean_error_m": 0.006087966044176806,
        "rms_error_m": 0.018608819411342806,
        "median_error_m": 0.00029909758355788833,
        "worst_error_m": 0.07997577691281804
      },
      "marker_reports": [
        {
          "marker_id": 46,
          "link": "Board",
          "error_m": [
            0.00023119187005882225,
            0.0001638179674103568,
            -0.00010463200703492853
          ],
          "error_norm_m": 0.0003020494398669089,
          "predicted_m": [
            0.5367250657751038,
            0.18545470705337558,
            -0.027336931986172867
          ],
          "observed_m": [
            0.536493873905045,
            0.18529088908596522,
            -0.02723229997913794
          ]
        },
        {
          "marker_id": 47,
          "link": "Board",
          "error_m": [
            -0.00014744286046136645,
            0.00012173977173757233,
            -0.0001348842178661505
          ],
          "error_norm_m": 0.0002339951310457321,
          "predicted_m": [
            0.3442533749030795,
            -0.2865286813145559,
            -0.02734777589999846
          ],
          "observed_m": [
            0.34440081776354087,
            -0.28665042108629346,
            -0.02721289168213231
          ]
        },
        {
          "marker_id": 51,
          "link": "Board",
          "error_m": [
            5.309812312059847e-05,
            -0.00020886326021332668,
            0.0002325329052500283
          ],
          "error_norm_m": 0.00031704072951261117,
          "predicted_m": [
            0.16782136752516283,
            -0.1720717918268552,
            -0.027286772629229475
          ],
          "observed_m": [
            0.16776826940204223,
            -0.17186292856664187,
            -0.027519305534479503
          ]
        },
        {
          "marker_id": 53,
          "link": "Board",
          "error_m": [
            -3.082762285167018e-05,
            5.734226533921083e-05,
            -8.574129649907211e-05
          ],
          "error_norm_m": 0.00010765708360465219,
          "predicted_m": [
            0.4862645960763571,
            0.2122538174797039,
            -0.02732025447617755
          ],
          "observed_m": [
            0.48629542369920875,
            0.2121964752143647,
            -0.02723451317967848
          ]
        },
        {
          "marker_id": 54,
          "link": "Board",
          "error_m": [
            -8.689741467815537e-05,
            2.084652103728768e-05,
            -0.00013996332264986158
          ],
          "error_norm_m": 0.00016605863363370973,
          "predicted_m": [
            0.34229414984560724,
            -0.33057871548186146,
            -0.027352975263719628
          ],
          "observed_m": [
            0.3423810472602854,
            -0.33059956200289875,
            -0.027213011941069766
          ]
        },
        {
          "marker_id": 55,
          "link": "Board",
          "error_m": [
            -3.283680479632123e-05,
            8.93325736997519e-05,
            -4.533787401645936e-05
          ],
          "error_norm_m": 0.00010542337166580117,
          "predicted_m": [
            0.2837429555077737,
            -0.2625697479925105,
            -0.027328837209804554
          ],
          "observed_m": [
            0.28377579231257,
            -0.26265908056621023,
            -0.027283499335788094
          ]
        },
        {
          "marker_id": 56,
          "link": "Board",
          "error_m": [
            5.6683143949021186e-05,
            -4.187347286849219e-05,
            -1.0361057953760244e-05
          ],
          "error_norm_m": 7.123003622022796e-05,
          "predicted_m": [
            0.4986953620805339,
            0.16868403692824455,
            -0.027329156559124112
          ],
          "observed_m": [
            0.49863867893658487,
            0.16872591040111304,
            -0.02731879550117035
          ]
        },
        {
          "marker_id": 58,
          "link": "Board",
          "error_m": [
            0.00010898286639899474,
            -0.00013531298462457486,
            2.4156409186272543e-05
          ],
          "error_norm_m": 0.00017541493973241332,
          "predicted_m": [
            0.05011218127725505,
            -0.21810386604044124,
            -0.027261944212492607
          ],
          "observed_m": [
            0.050003198410856056,
            -0.21796855305581667,
            -0.02728610062167888
          ]
        },
        {
          "marker_id": 60,
          "link": "Board",
          "error_m": [
            1.692622537791122e-05,
            4.309980570010863e-05,
            1.0628662820987705e-05
          ],
          "error_norm_m": 4.750851324018894e-05,
          "predicted_m": [
            0.43437333888625645,
            0.2838229023193166,
            -0.02729739728563066
          ],
          "observed_m": [
            0.43435641266087854,
            0.2837798025136165,
            -0.027308025948451647
          ]
        },
        {
          "marker_id": 61,
          "link": "Board",
          "error_m": [
            2.1550213066802437e-05,
            -0.00039134191686995834,
            0.0003126923269400131
          ],
          "error_norm_m": 0.0005013874738262195,
          "predicted_m": [
            -0.0224075604824385,
            0.3358348512468195,
            -0.0271711408437482
          ],
          "observed_m": [
            -0.0224291106955053,
            0.33622619316368946,
            -0.027483833170688213
          ]
        },
        {
          "marker_id": 62,
          "link": "Board",
          "error_m": [
            4.5764718946572636e-05,
            3.2876613692278678e-06,
            6.080875086055329e-05
          ],
          "error_norm_m": 7.617691513023049e-05,
          "predicted_m": [
            0.4047214125042162,
            -0.1750876165009518,
            -0.027349146162272766
          ],
          "observed_m": [
            0.40467564778526965,
            -0.17509090416232104,
            -0.02740995491313332
          ]
        },
        {
          "marker_id": 63,
          "link": "Board",
          "error_m": [
            5.723858885597899e-05,
            9.356691776807313e-05,
            0.00018386234045146901
          ],
          "error_norm_m": 0.0002140943352616623,
          "predicted_m": [
            0.7774224736087888,
            -0.2361310472389689,
            -0.02745457508924221
          ],
          "observed_m": [
            0.7773652350199328,
            -0.23622461415673698,
            -0.02763843742969368
          ]
        },
        {
          "marker_id": 64,
          "link": "Board",
          "error_m": [
            4.1423947968247804e-05,
            -0.00014205404642433916,
            -0.00011512492785336476
          ],
          "error_norm_m": 0.0001874807845728379,
          "predicted_m": [
            -0.021248341882591285,
            -0.18822512399747535,
            -0.027239399081236515
          ],
          "observed_m": [
            -0.021289765830559533,
            -0.188083069951051,
            -0.02712427415338315
          ]
        },
        {
          "marker_id": 66,
          "link": "Board",
          "error_m": [
            -0.00012599533402873897,
            0.00010588321984128513,
            1.9222121424126992e-05
          ],
          "error_norm_m": 0.00016569722506130062,
          "predicted_m": [
            0.2097747285659698,
            -0.3632210508324448,
            -0.027322535651109706
          ],
          "observed_m": [
            0.20990072389999853,
            -0.3633269340522861,
            -0.027341757772533833
          ]
        },
        {
          "marker_id": 68,
          "link": "Board",
          "error_m": [
            7.825327892119205e-06,
            0.00015493004001096433,
            -6.2036268805194805e-06
          ],
          "error_norm_m": 0.00015525153152510572,
          "predicted_m": [
            0.5737453248462413,
            0.1706553596478406,
            -0.027348536991536634
          ],
          "observed_m": [
            0.5737374995183492,
            0.17050042960782963,
            -0.027342333364656114
          ]
        },
        {
          "marker_id": 69,
          "link": "Board",
          "error_m": [
            -5.922502571516393e-05,
            -0.00038388839300179667,
            0.0002968696214815658
          ],
          "error_norm_m": 0.0004888859520492196,
          "predicted_m": [
            0.007633292717869882,
            -0.28120461419894877,
            -0.027259012330330554
          ],
          "observed_m": [
            0.007692517743585046,
            -0.28082072580594697,
            -0.02755588195181212
          ]
        },
        {
          "marker_id": 72,
          "link": "Board",
          "error_m": [
            0.00038155310689075295,
            0.0003161964191133182,
            -0.00039087258499147584
          ],
          "error_norm_m": 0.0006311452499512217,
          "predicted_m": [
            0.4410049128598024,
            0.1943330199375759,
            -0.027310736536235895
          ],
          "observed_m": [
            0.44062335975291167,
            0.19401682351846258,
            -0.02691986395124442
          ]
        },
        {
          "marker_id": 73,
          "link": "Board",
          "error_m": [
            -1.0809524911947754e-05,
            0.0005209083581688145,
            -0.00047217776510506335
          ],
          "error_norm_m": 0.0007031459345673303,
          "predicted_m": [
            0.2217424789700998,
            0.3331191543494928,
            -0.027235372345979156
          ],
          "observed_m": [
            0.22175328849501175,
            0.332598245991324,
            -0.026763194580874092
          ]
        },
        {
          "marker_id": 75,
          "link": "Board",
          "error_m": [
            2.089296773622948e-05,
            5.2785255821891086e-05,
            0.00012760099364308997
          ],
          "error_norm_m": 0.00013965963236280373,
          "predicted_m": [
            -0.02568507566788694,
            0.1945847946471359,
            -0.02718859923262906
          ],
          "observed_m": [
            -0.025705968635623168,
            0.19453200939131401,
            -0.02731620022627215
          ]
        },
        {
          "marker_id": 79,
          "link": "Board",
          "error_m": [
            -8.855756673514792e-05,
            -0.00040320196247570217,
            0.00020058987954125682
          ],
          "error_norm_m": 0.00045896684514753745,
          "predicted_m": [
            0.31232113440411313,
            -0.15909924516350613,
            -0.027322897361177708
          ],
          "observed_m": [
            0.3124096919708483,
            -0.15869604320103042,
            -0.027523487240718965
          ]
        },
        {
          "marker_id": 82,
          "link": "Board",
          "error_m": [
            -6.158694231089834e-05,
            -8.580082970072178e-05,
            8.957893097094605e-05
          ],
          "error_norm_m": 0.00013848869525862282,
          "predicted_m": [
            0.21917311004078294,
            0.2972491093610568,
            -0.027239351371315373
          ],
          "observed_m": [
            0.21923469698309384,
            0.29733491019075753,
            -0.02732893030228632
          ]
        },
        {
          "marker_id": 83,
          "link": "Board",
          "error_m": [
            -5.426234104181915e-05,
            -0.00011111020260934357,
            0.00016511898797014202
          ],
          "error_norm_m": 0.00020628659425060074,
          "predicted_m": [
            0.04417237759553884,
            0.3392260246727398,
            -0.027188121068680585
          ],
          "observed_m": [
            0.04422663993658066,
            0.33933713487534917,
            -0.027353240056650727
          ]
        },
        {
          "marker_id": 84,
          "link": "Board",
          "error_m": [
            0.00014352441574932984,
            6.221915725929117e-05,
            -3.7946691859542386e-05
          ],
          "error_norm_m": 0.00016096717947869355,
          "predicted_m": [
            0.40750378644075314,
            0.25843242896005214,
            -0.02729365952910834
          ],
          "observed_m": [
            0.4073602620250038,
            0.25837020980279285,
            -0.027255712837248796
          ]
        },
        {
          "marker_id": 85,
          "link": "Board",
          "error_m": [
            0.00018448005383175925,
            -0.0001929986884540713,
            0.00010304636704261058
          ],
          "error_norm_m": 0.0002861816516959829,
          "predicted_m": [
            0.5046038304449671,
            -0.3127358549636571,
            -0.027393128242827122
          ],
          "observed_m": [
            0.5044193503911354,
            -0.312542856275203,
            -0.027496174609869733
          ]
        },
        {
          "marker_id": 86,
          "link": "Board",
          "error_m": [
            -0.00041302127011444423,
            -0.00022729111282671077,
            0.00012288976179672742
          ],
          "error_norm_m": 0.00048718550172537946,
          "predicted_m": [
            0.36290319709893226,
            0.2920216426091962,
            -0.027277634723037018
          ],
          "observed_m": [
            0.3633162183690467,
            0.29224893372202293,
            -0.027400524484833745
          ]
        },
        {
          "marker_id": 92,
          "link": "Board",
          "error_m": [
            -0.0002249958117158668,
            0.0002764089032140371,
            -0.0002382375432670586
          ],
          "error_norm_m": 0.0004286981736462057,
          "predicted_m": [
            0.645111575573512,
            -0.1848233796071786,
            -0.027413304224449212
          ],
          "observed_m": [
            0.6453365713852278,
            -0.18509978851039263,
            -0.027175066681182154
          ]
        },
        {
          "marker_id": 95,
          "link": "Board",
          "error_m": [
            0.00016437102236044332,
            0.00011049113339506311,
            -1.4708207874688378e-05
          ],
          "error_norm_m": 0.00019860124604248594,
          "predicted_m": [
            0.18606316098464215,
            -0.27406146947837556,
            -0.02730477042528646
          ],
          "observed_m": [
            0.1858987899622817,
            -0.2741719606117706,
            -0.027290062217411773
          ]
        },
        {
          "marker_id": 96,
          "link": "Board",
          "error_m": [
            7.649016640010053e-05,
            9.828472211886874e-05,
            -9.089716310750964e-05
          ],
          "error_norm_m": 0.00015418471525703036,
          "predicted_m": [
            0.36979161406450833,
            -0.18647823203546626,
            -0.027341484161157538
          ],
          "observed_m": [
            0.36971512389810823,
            -0.18657651675758513,
            -0.02725058699805003
          ]
        },
        {
          "marker_id": 97,
          "link": "Board",
          "error_m": [
            0.00020382614999203685,
            7.179636906051723e-05,
            -0.0002027098903542475
          ],
          "error_norm_m": 0.00029629565922956305,
          "predicted_m": [
            0.3043746626901148,
            -0.35965938356286725,
            -0.027346824913079992
          ],
          "observed_m": [
            0.3041708365401228,
            -0.35973117993192777,
            -0.027144115022725745
          ]
        },
        {
          "marker_id": 102,
          "link": "Board",
          "error_m": [
            -0.00013600903849941837,
            -0.000190094809003033,
            0.00038261680713974275
          ],
          "error_norm_m": 0.000448363821097607,
          "predicted_m": [
            0.649712246680626,
            -0.22298329820664672,
            -0.027419456145602768
          ],
          "observed_m": [
            0.6498482557191254,
            -0.2227932033976437,
            -0.02780207295274251
          ]
        },
        {
          "marker_id": 103,
          "link": "Board",
          "error_m": [
            -4.772273536859939e-06,
            0.0001558927351641426,
            -3.216445323070416e-07
          ],
          "error_norm_m": 0.0001559660954402375,
          "predicted_m": [
            0.1057316446043112,
            -0.18770288601290436,
            -0.027272554375566267
          ],
          "observed_m": [
            0.10573641687784806,
            -0.1878587787480685,
            -0.02727223273103396
          ]
        },
        {
          "marker_id": 105,
          "link": "Board",
          "error_m": [
            0.0002116687607344181,
            0.00022434563679629704,
            -0.00030475494066066824
          ],
          "error_norm_m": 0.0004336014332050435,
          "predicted_m": [
            0.5248630117757593,
            -0.2662354982846541,
            -0.02739239914154039
          ],
          "observed_m": [
            0.5246513430150249,
            -0.2664598439214504,
            -0.02708764420087972
          ]
        },
        {
          "marker_id": 198,
          "link": "Arm1",
          "error_m": [
            0.00017264157800062074,
            0.002338924985120873,
            0.010923774565658156
          ],
          "error_norm_m": 0.01117270003006423,
          "predicted_m": [
            0.16014006185707808,
            -0.050753459799546534,
            0.10134314805110152
          ],
          "observed_m": [
            0.15996742027907745,
            -0.05309238478466741,
            0.09041937348544336
          ]
        },
        {
          "marker_id": 205,
          "link": "Board",
          "error_m": [
            -5.006671163554355e-05,
            2.1165048207510972e-06,
            -0.0002114886335585359
          ],
          "error_norm_m": 0.00021734442097994972,
          "predicted_m": [
            0.7500271249111544,
            -0.08998511030436256,
            0.0001715445666394677
          ],
          "observed_m": [
            0.75007719162279,
            -0.08998722680918331,
            0.0003830332001980036
          ]
        },
        {
          "marker_id": 206,
          "link": "Board",
          "error_m": [
            -0.00010244785427382386,
            -0.0004777894848594748,
            0.00017382965480367723
          ],
          "error_norm_m": 0.0005186473788391864,
          "predicted_m": [
            0.6500257210846707,
            -0.009986873462998147,
            0.0002080822938108538
          ],
          "observed_m": [
            0.6501281689389445,
            -0.009509083978138672,
            3.4252639007176556e-05
          ]
        },
        {
          "marker_id": 207,
          "link": "Board",
          "error_m": [
            -0.0006581080226497615,
            -0.000433861471745239,
            0.0005291329254721933
          ],
          "error_norm_m": 0.0009493806396591862,
          "predicted_m": [
            0.750025717646431,
            -0.009985110989361739,
            0.0001819185473904473
          ],
          "observed_m": [
            0.7506838256690808,
            -0.0095512495176165,
            -0.00034721437808174607
          ]
        },
        {
          "marker_id": 208,
          "link": "Board",
          "error_m": [
            3.670025145363631e-05,
            2.9199448923003524e-05,
            -5.1625268070184236e-05
          ],
          "error_norm_m": 6.974729082541923e-05,
          "predicted_m": [
            0.3500271386641134,
            -0.08999216019890818,
            0.0002761995523210937
          ],
          "observed_m": [
            0.34999043841265975,
            -0.09002135964783119,
            0.0003278248203912779
          ]
        },
        {
          "marker_id": 210,
          "link": "Board",
          "error_m": [
            -4.198331445853104e-05,
            0.0003066847233939157,
            -9.23607503197693e-05
          ],
          "error_norm_m": 0.000323030380081746,
          "predicted_m": [
            0.020025918653671454,
            -0.019997976961282627,
            0.0003716171486655422
          ],
          "observed_m": [
            0.020067901968129985,
            -0.020304661684676543,
            0.0004639778989853115
          ]
        },
        {
          "marker_id": 211,
          "link": "Board",
          "error_m": [
            0.00010807411786095678,
            0.00027529169532617206,
            6.0644706240166064e-05
          ],
          "error_norm_m": 0.0003018995078862136,
          "predicted_m": [
            0.25002573483762963,
            -0.009993923357543783,
            0.0003127372794924798
          ],
          "observed_m": [
            0.24991766071976868,
            -0.010269215052869955,
            0.0002520925732523137
          ]
        },
        {
          "marker_id": 214,
          "link": "Board",
          "error_m": [
            7.23100831970247e-05,
            0.00027996229800264505,
            -0.0002693511552954145
          ],
          "error_norm_m": 0.00039516791531430913,
          "predicted_m": [
            0.35002573139938997,
            -0.009992160883907374,
            0.00028657353307207323
          ],
          "observed_m": [
            0.34995342131619295,
            -0.01027212318191002,
            0.0005559246883674878
          ]
        },
        {
          "marker_id": 215,
          "link": "Board",
          "error_m": [
            0.00020047129502520633,
            8.830003371299022e-05,
            -0.0001365160957813505
          ],
          "error_norm_m": 0.0002581129219744362,
          "predicted_m": [
            0.25002714210235305,
            -0.0899939226725446,
            0.00030236329874150017
          ],
          "observed_m": [
            0.24982667080732784,
            -0.09008222270625758,
            0.0004388793945228507
          ]
        },
        {
          "marker_id": 217,
          "link": "Board",
          "error_m": [
            -0.00011520168245726659,
            -0.00029924750252879884,
            6.039451249597691e-05
          ],
          "error_norm_m": 0.0003262943342295956,
          "predicted_m": [
            0.6500271283493941,
            -0.08998687277799897,
            0.0001977083130598742
          ],
          "observed_m": [
            0.6501423300318514,
            -0.08968762527547017,
            0.00013731380056389728
          ]
        },
        {
          "marker_id": 229,
          "link": "Arm1",
          "error_m": [
            0.0001692087482302318,
            0.002444742164626118,
            0.017027454546097415
          ],
          "error_norm_m": 0.017202895226426044,
          "predicted_m": [
            0.160142428816494,
            -0.1407038663169075,
            0.1043305150789356
          ],
          "observed_m": [
            0.15997322006826376,
            -0.14314860848153363,
            0.08730306053283819
          ]
        },
        {
          "marker_id": 232,
          "link": "Ellbow",
          "error_m": [
            0.00011887142674299467,
            0.0591000647000602,
            0.053882215199836034
          ],
          "error_norm_m": 0.07997577691281804,
          "predicted_m": [
            0.2501361464486919,
            -0.1094018263571989,
            0.08241556607813931
          ],
          "observed_m": [
            0.2500172750219489,
            -0.1685018910572591,
            0.028533350878303273
          ]
        },
        {
          "marker_id": 243,
          "link": "Arm1",
          "error_m": [
            0.00036330284973376537,
            0.000439013837590041,
            0.019642091452553266
          ],
          "error_norm_m": 0.019650355689928015,
          "predicted_m": [
            0.1601342175111022,
            -0.17684633400759492,
            0.07051155646395044
          ],
          "observed_m": [
            0.15977091466136845,
            -0.17728534784518496,
            0.05086946501139717
          ]
        },
        {
          "marker_id": 244,
          "link": "Ellbow",
          "error_m": [
            -0.0007986309759998589,
            0.0006828227405001608,
            0.017137495860633303
          ],
          "error_norm_m": 0.01716967741991661,
          "predicted_m": [
            0.2851332927289253,
            -0.14186341726990898,
            0.06931709793676727
          ],
          "observed_m": [
            0.28593192370492515,
            -0.14254624001040914,
            0.052179602076133966
          ]
        },
        {
          "marker_id": 245,
          "link": "Ellbow",
          "error_m": [
            -0.00010883503527764349,
            0.0674991449496973,
            0.0020044754401203208
          ],
          "error_norm_m": 0.06752898885512204,
          "predicted_m": [
            0.2501291423603053,
            -0.10965588945545576,
            0.05562824812946068
          ],
          "observed_m": [
            0.25023797739558296,
            -0.17715503440515307,
            0.05362377268934036
          ]
        },
        {
          "marker_id": 248,
          "link": "Ellbow",
          "error_m": [
            0.0001119597610023948,
            0.0674936943393805,
            0.001854521809903302
          ],
          "error_norm_m": 0.06751926067211649,
          "predicted_m": [
            0.2126291436496932,
            -0.10965655038306941,
            0.05563805953436833
          ],
          "observed_m": [
            0.2125171838886908,
            -0.17715024472244992,
            0.05378353772446503
          ]
        }
      ],
      "stage_idx": 1,
      "num_active_links": 4
    },
    {
      "method": "deterministic_geometric_prefix",
      "active_links": [
        "Board",
        "Base",
        "Arm1",
        "Ellbow",
        "Arm2"
      ],
      "active_observations": 52,
      "joint_updates": [
        {
          "pass": 0,
          "updates": [
            {
              "link": "Base",
              "joint_variable": "x",
              "joint_type": "linear",
              "old": 0.05008717839341761,
              "new": 0.052139867571197346,
              "info": {
                "reason": "weighted_projection",
                "used_markers": 11,
                "axis_world": [
                  0.9999999656166024,
                  1.7624736364070108e-05,
                  -0.0002616374642038032
                ],
                "per_marker": [
                  {
                    "marker_id": 198,
                    "q_i": 0.04991735366699348,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 229,
                    "q_i": 0.049922381582998346,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 243,
                    "q_i": 0.049729006925571424,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 244,
                    "q_i": 0.050890281118246686,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 245,
                    "q_i": 0.05019534821608962,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 248,
                    "q_i": 0.0499745142899793,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 232,
                    "q_i": 0.049981362953752766,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 120,
                    "q_i": 0.05721453727651868,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 114,
                    "q_i": 0.05707455939301907,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 115,
                    "q_i": 0.059998979855315104,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 219,
                    "q_i": 0.04864021800468629,
                    "weight": 1.0
                  }
                ]
              }
            },
            {
              "link": "Arm1",
              "joint_variable": "y",
              "joint_type": "revolute",
              "old": 0.03332874108695938,
              "new": -0.5316795436975772,
              "info": {
                "reason": "2d_alignment+normal_tiebreak",
                "used_markers": 11,
                "axis_world": [
                  -0.9999999656166024,
                  -1.7624736364070108e-05,
                  0.0002616374642038032
                ],
                "axis_id": 0,
                "theta_rad": -0.5316795436975774,
                "theta_alt_rad": 2.609913109892216,
                "score_theta": 1.0312685175858676,
                "score_theta_alt": 2.556427733181886,
                "best_score": 1.0312685175858676,
                "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": 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": -1.2018737301676388,
              "new": 1.0023915183057088,
              "info": {
                "reason": "2d_alignment+normal_tiebreak",
                "used_markers": 7,
                "axis_world": [
                  -0.9999999656166024,
                  -1.7624736364070108e-05,
                  0.0002616374642038032
                ],
                "axis_id": 0,
                "theta_rad": -2.1392011352840843,
                "theta_alt_rad": 1.0023915183057088,
                "score_theta": 1.0203661555325265,
                "score_theta_alt": 0.38303893430417496,
                "best_score": 0.38303893430417496,
                "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": 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": 0.9472658659035833,
              "info": {
                "reason": "2d_alignment+normal_tiebreak",
                "used_markers": 4,
                "axis_world": [
                  0.00013433683687575696,
                  -0.8913044192134195,
                  0.45340535312482055
                ],
                "axis_id": 1,
                "theta_rad": -2.19432678768621,
                "theta_alt_rad": 0.9472658659035833,
                "score_theta": 0.4441085479217772,
                "score_theta_alt": 0.36466605644041394,
                "best_score": 0.36466605644041394,
                "per_marker": [
                  {
                    "marker_id": 120,
                    "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": 0.052139867571197346,
              "new": 0.04892022155170399,
              "info": {
                "reason": "weighted_projection",
                "used_markers": 11,
                "axis_world": [
                  0.9999999656166024,
                  1.7624736364070108e-05,
                  -0.0002616374642038032
                ],
                "per_marker": [
                  {
                    "marker_id": 198,
                    "q_i": 0.049917353666993465,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 229,
                    "q_i": 0.04992238158299834,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 243,
                    "q_i": 0.049729006925571424,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 244,
                    "q_i": 0.05089028111823664,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 245,
                    "q_i": 0.050195348216082424,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 248,
                    "q_i": 0.0499745142899751,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 232,
                    "q_i": 0.04998136295374555,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 120,
                    "q_i": 0.04742029485709134,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 114,
                    "q_i": 0.04728031697359171,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 115,
                    "q_i": 0.029608029965032954,
                    "weight": 1.0
                  },
                  {
                    "marker_id": 219,
                    "q_i": 0.06320354651942489,
                    "weight": 1.0
                  }
                ]
              }
            },
            {
              "link": "Arm1",
              "joint_variable": "y",
              "joint_type": "revolute",
              "old": -0.5316795436975772,
              "new": -0.08836641382860355,
              "info": {
                "reason": "2d_alignment+normal_tiebreak",
                "used_markers": 11,
                "axis_world": [
                  -0.9999999656166024,
                  -1.7624736364070108e-05,
                  0.0002616374642038032
                ],
                "axis_id": 0,
                "theta_rad": -0.0883664138286035,
                "theta_alt_rad": 3.053226239761189,
                "score_theta": 0.06011097684137366,
                "score_theta_alt": 3.8811418101118305,
                "best_score": 0.06011097684137366,
                "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": 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": 1.0023915183057088,
              "new": 1.4943262922107685,
              "info": {
                "reason": "2d_alignment+normal_tiebreak",
                "used_markers": 7,
                "axis_world": [
                  -0.9999999656166024,
                  -1.7624736364070108e-05,
                  0.00026163746420380317
                ],
                "axis_id": 0,
                "theta_rad": -1.6472663613790242,
                "theta_alt_rad": 1.4943262922107685,
                "score_theta": 0.7697046459474692,
                "score_theta_alt": 0.0988607962379581,
                "best_score": 0.0988607962379581,
                "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": 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": 0.9472658659035833,
              "new": 1.0937896539089307,
              "info": {
                "reason": "2d_alignment+normal_tiebreak",
                "used_markers": 4,
                "axis_world": [
                  0.00026097976795783464,
                  -0.16421890960176014,
                  0.986423885364081
                ],
                "axis_id": 2,
                "theta_rad": 1.0937896539089305,
                "theta_alt_rad": -2.0478029996808624,
                "score_theta": 0.15157290470500367,
                "score_theta_alt": 0.17550794275752263,
                "best_score": 0.15157290470500367,
                "per_marker": [
                  {
                    "marker_id": 120,
                    "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,
          207,
          217,
          46,
          47,
          51,
          53,
          54,
          55,
          56,
          58,
          60,
          61,
          62,
          63,
          64,
          66,
          68,
          69,
          72,
          73,
          75,
          79,
          82,
          83,
          84,
          85,
          86,
          92,
          95,
          96,
          97,
          102,
          103,
          105
        ]
      },
      "marker_stats": {
        "num_markers_used": 52,
        "mean_error_m": 0.004676020002923168,
        "rms_error_m": 0.011046497474104171,
        "median_error_m": 0.00030954508468976,
        "worst_error_m": 0.0516355036399338
      },
      "marker_reports": [
        {
          "marker_id": 46,
          "link": "Board",
          "error_m": [
            0.00023119187005882225,
            0.0001638179674103568,
            -0.00010463200703492853
          ],
          "error_norm_m": 0.0003020494398669089,
          "predicted_m": [
            0.5367250657751038,
            0.18545470705337558,
            -0.027336931986172867
          ],
          "observed_m": [
            0.536493873905045,
            0.18529088908596522,
            -0.02723229997913794
          ]
        },
        {
          "marker_id": 47,
          "link": "Board",
          "error_m": [
            -0.00014744286046136645,
            0.00012173977173757233,
            -0.0001348842178661505
          ],
          "error_norm_m": 0.0002339951310457321,
          "predicted_m": [
            0.3442533749030795,
            -0.2865286813145559,
            -0.02734777589999846
          ],
          "observed_m": [
            0.34440081776354087,
            -0.28665042108629346,
            -0.02721289168213231
          ]
        },
        {
          "marker_id": 51,
          "link": "Board",
          "error_m": [
            5.309812312059847e-05,
            -0.00020886326021332668,
            0.0002325329052500283
          ],
          "error_norm_m": 0.00031704072951261117,
          "predicted_m": [
            0.16782136752516283,
            -0.1720717918268552,
            -0.027286772629229475
          ],
          "observed_m": [
            0.16776826940204223,
            -0.17186292856664187,
            -0.027519305534479503
          ]
        },
        {
          "marker_id": 53,
          "link": "Board",
          "error_m": [
            -3.082762285167018e-05,
            5.734226533921083e-05,
            -8.574129649907211e-05
          ],
          "error_norm_m": 0.00010765708360465219,
          "predicted_m": [
            0.4862645960763571,
            0.2122538174797039,
            -0.02732025447617755
          ],
          "observed_m": [
            0.48629542369920875,
            0.2121964752143647,
            -0.02723451317967848
          ]
        },
        {
          "marker_id": 54,
          "link": "Board",
          "error_m": [
            -8.689741467815537e-05,
            2.084652103728768e-05,
            -0.00013996332264986158
          ],
          "error_norm_m": 0.00016605863363370973,
          "predicted_m": [
            0.34229414984560724,
            -0.33057871548186146,
            -0.027352975263719628
          ],
          "observed_m": [
            0.3423810472602854,
            -0.33059956200289875,
            -0.027213011941069766
          ]
        },
        {
          "marker_id": 55,
          "link": "Board",
          "error_m": [
            -3.283680479632123e-05,
            8.93325736997519e-05,
            -4.533787401645936e-05
          ],
          "error_norm_m": 0.00010542337166580117,
          "predicted_m": [
            0.2837429555077737,
            -0.2625697479925105,
            -0.027328837209804554
          ],
          "observed_m": [
            0.28377579231257,
            -0.26265908056621023,
            -0.027283499335788094
          ]
        },
        {
          "marker_id": 56,
          "link": "Board",
          "error_m": [
            5.6683143949021186e-05,
            -4.187347286849219e-05,
            -1.0361057953760244e-05
          ],
          "error_norm_m": 7.123003622022796e-05,
          "predicted_m": [
            0.4986953620805339,
            0.16868403692824455,
            -0.027329156559124112
          ],
          "observed_m": [
            0.49863867893658487,
            0.16872591040111304,
            -0.02731879550117035
          ]
        },
        {
          "marker_id": 58,
          "link": "Board",
          "error_m": [
            0.00010898286639899474,
            -0.00013531298462457486,
            2.4156409186272543e-05
          ],
          "error_norm_m": 0.00017541493973241332,
          "predicted_m": [
            0.05011218127725505,
            -0.21810386604044124,
            -0.027261944212492607
          ],
          "observed_m": [
            0.050003198410856056,
            -0.21796855305581667,
            -0.02728610062167888
          ]
        },
        {
          "marker_id": 60,
          "link": "Board",
          "error_m": [
            1.692622537791122e-05,
            4.309980570010863e-05,
            1.0628662820987705e-05
          ],
          "error_norm_m": 4.750851324018894e-05,
          "predicted_m": [
            0.43437333888625645,
            0.2838229023193166,
            -0.02729739728563066
          ],
          "observed_m": [
            0.43435641266087854,
            0.2837798025136165,
            -0.027308025948451647
          ]
        },
        {
          "marker_id": 61,
          "link": "Board",
          "error_m": [
            2.1550213066802437e-05,
            -0.00039134191686995834,
            0.0003126923269400131
          ],
          "error_norm_m": 0.0005013874738262195,
          "predicted_m": [
            -0.0224075604824385,
            0.3358348512468195,
            -0.0271711408437482
          ],
          "observed_m": [
            -0.0224291106955053,
            0.33622619316368946,
            -0.027483833170688213
          ]
        },
        {
          "marker_id": 62,
          "link": "Board",
          "error_m": [
            4.5764718946572636e-05,
            3.2876613692278678e-06,
            6.080875086055329e-05
          ],
          "error_norm_m": 7.617691513023049e-05,
          "predicted_m": [
            0.4047214125042162,
            -0.1750876165009518,
            -0.027349146162272766
          ],
          "observed_m": [
            0.40467564778526965,
            -0.17509090416232104,
            -0.02740995491313332
          ]
        },
        {
          "marker_id": 63,
          "link": "Board",
          "error_m": [
            5.723858885597899e-05,
            9.356691776807313e-05,
            0.00018386234045146901
          ],
          "error_norm_m": 0.0002140943352616623,
          "predicted_m": [
            0.7774224736087888,
            -0.2361310472389689,
            -0.02745457508924221
          ],
          "observed_m": [
            0.7773652350199328,
            -0.23622461415673698,
            -0.02763843742969368
          ]
        },
        {
          "marker_id": 64,
          "link": "Board",
          "error_m": [
            4.1423947968247804e-05,
            -0.00014205404642433916,
            -0.00011512492785336476
          ],
          "error_norm_m": 0.0001874807845728379,
          "predicted_m": [
            -0.021248341882591285,
            -0.18822512399747535,
            -0.027239399081236515
          ],
          "observed_m": [
            -0.021289765830559533,
            -0.188083069951051,
            -0.02712427415338315
          ]
        },
        {
          "marker_id": 66,
          "link": "Board",
          "error_m": [
            -0.00012599533402873897,
            0.00010588321984128513,
            1.9222121424126992e-05
          ],
          "error_norm_m": 0.00016569722506130062,
          "predicted_m": [
            0.2097747285659698,
            -0.3632210508324448,
            -0.027322535651109706
          ],
          "observed_m": [
            0.20990072389999853,
            -0.3633269340522861,
            -0.027341757772533833
          ]
        },
        {
          "marker_id": 68,
          "link": "Board",
          "error_m": [
            7.825327892119205e-06,
            0.00015493004001096433,
            -6.2036268805194805e-06
          ],
          "error_norm_m": 0.00015525153152510572,
          "predicted_m": [
            0.5737453248462413,
            0.1706553596478406,
            -0.027348536991536634
          ],
          "observed_m": [
            0.5737374995183492,
            0.17050042960782963,
            -0.027342333364656114
          ]
        },
        {
          "marker_id": 69,
          "link": "Board",
          "error_m": [
            -5.922502571516393e-05,
            -0.00038388839300179667,
            0.0002968696214815658
          ],
          "error_norm_m": 0.0004888859520492196,
          "predicted_m": [
            0.007633292717869882,
            -0.28120461419894877,
            -0.027259012330330554
          ],
          "observed_m": [
            0.007692517743585046,
            -0.28082072580594697,
            -0.02755588195181212
          ]
        },
        {
          "marker_id": 72,
          "link": "Board",
          "error_m": [
            0.00038155310689075295,
            0.0003161964191133182,
            -0.00039087258499147584
          ],
          "error_norm_m": 0.0006311452499512217,
          "predicted_m": [
            0.4410049128598024,
            0.1943330199375759,
            -0.027310736536235895
          ],
          "observed_m": [
            0.44062335975291167,
            0.19401682351846258,
            -0.02691986395124442
          ]
        },
        {
          "marker_id": 73,
          "link": "Board",
          "error_m": [
            -1.0809524911947754e-05,
            0.0005209083581688145,
            -0.00047217776510506335
          ],
          "error_norm_m": 0.0007031459345673303,
          "predicted_m": [
            0.2217424789700998,
            0.3331191543494928,
            -0.027235372345979156
          ],
          "observed_m": [
            0.22175328849501175,
            0.332598245991324,
            -0.026763194580874092
          ]
        },
        {
          "marker_id": 75,
          "link": "Board",
          "error_m": [
            2.089296773622948e-05,
            5.2785255821891086e-05,
            0.00012760099364308997
          ],
          "error_norm_m": 0.00013965963236280373,
          "predicted_m": [
            -0.02568507566788694,
            0.1945847946471359,
            -0.02718859923262906
          ],
          "observed_m": [
            -0.025705968635623168,
            0.19453200939131401,
            -0.02731620022627215
          ]
        },
        {
          "marker_id": 79,
          "link": "Board",
          "error_m": [
            -8.855756673514792e-05,
            -0.00040320196247570217,
            0.00020058987954125682
          ],
          "error_norm_m": 0.00045896684514753745,
          "predicted_m": [
            0.31232113440411313,
            -0.15909924516350613,
            -0.027322897361177708
          ],
          "observed_m": [
            0.3124096919708483,
            -0.15869604320103042,
            -0.027523487240718965
          ]
        },
        {
          "marker_id": 82,
          "link": "Board",
          "error_m": [
            -6.158694231089834e-05,
            -8.580082970072178e-05,
            8.957893097094605e-05
          ],
          "error_norm_m": 0.00013848869525862282,
          "predicted_m": [
            0.21917311004078294,
            0.2972491093610568,
            -0.027239351371315373
          ],
          "observed_m": [
            0.21923469698309384,
            0.29733491019075753,
            -0.02732893030228632
          ]
        },
        {
          "marker_id": 83,
          "link": "Board",
          "error_m": [
            -5.426234104181915e-05,
            -0.00011111020260934357,
            0.00016511898797014202
          ],
          "error_norm_m": 0.00020628659425060074,
          "predicted_m": [
            0.04417237759553884,
            0.3392260246727398,
            -0.027188121068680585
          ],
          "observed_m": [
            0.04422663993658066,
            0.33933713487534917,
            -0.027353240056650727
          ]
        },
        {
          "marker_id": 84,
          "link": "Board",
          "error_m": [
            0.00014352441574932984,
            6.221915725929117e-05,
            -3.7946691859542386e-05
          ],
          "error_norm_m": 0.00016096717947869355,
          "predicted_m": [
            0.40750378644075314,
            0.25843242896005214,
            -0.02729365952910834
          ],
          "observed_m": [
            0.4073602620250038,
            0.25837020980279285,
            -0.027255712837248796
          ]
        },
        {
          "marker_id": 85,
          "link": "Board",
          "error_m": [
            0.00018448005383175925,
            -0.0001929986884540713,
            0.00010304636704261058
          ],
          "error_norm_m": 0.0002861816516959829,
          "predicted_m": [
            0.5046038304449671,
            -0.3127358549636571,
            -0.027393128242827122
          ],
          "observed_m": [
            0.5044193503911354,
            -0.312542856275203,
            -0.027496174609869733
          ]
        },
        {
          "marker_id": 86,
          "link": "Board",
          "error_m": [
            -0.00041302127011444423,
            -0.00022729111282671077,
            0.00012288976179672742
          ],
          "error_norm_m": 0.00048718550172537946,
          "predicted_m": [
            0.36290319709893226,
            0.2920216426091962,
            -0.027277634723037018
          ],
          "observed_m": [
            0.3633162183690467,
            0.29224893372202293,
            -0.027400524484833745
          ]
        },
        {
          "marker_id": 92,
          "link": "Board",
          "error_m": [
            -0.0002249958117158668,
            0.0002764089032140371,
            -0.0002382375432670586
          ],
          "error_norm_m": 0.0004286981736462057,
          "predicted_m": [
            0.645111575573512,
            -0.1848233796071786,
            -0.027413304224449212
          ],
          "observed_m": [
            0.6453365713852278,
            -0.18509978851039263,
            -0.027175066681182154
          ]
        },
        {
          "marker_id": 95,
          "link": "Board",
          "error_m": [
            0.00016437102236044332,
            0.00011049113339506311,
            -1.4708207874688378e-05
          ],
          "error_norm_m": 0.00019860124604248594,
          "predicted_m": [
            0.18606316098464215,
            -0.27406146947837556,
            -0.02730477042528646
          ],
          "observed_m": [
            0.1858987899622817,
            -0.2741719606117706,
            -0.027290062217411773
          ]
        },
        {
          "marker_id": 96,
          "link": "Board",
          "error_m": [
            7.649016640010053e-05,
            9.828472211886874e-05,
            -9.089716310750964e-05
          ],
          "error_norm_m": 0.00015418471525703036,
          "predicted_m": [
            0.36979161406450833,
            -0.18647823203546626,
            -0.027341484161157538
          ],
          "observed_m": [
            0.36971512389810823,
            -0.18657651675758513,
            -0.02725058699805003
          ]
        },
        {
          "marker_id": 97,
          "link": "Board",
          "error_m": [
            0.00020382614999203685,
            7.179636906051723e-05,
            -0.0002027098903542475
          ],
          "error_norm_m": 0.00029629565922956305,
          "predicted_m": [
            0.3043746626901148,
            -0.35965938356286725,
            -0.027346824913079992
          ],
          "observed_m": [
            0.3041708365401228,
            -0.35973117993192777,
            -0.027144115022725745
          ]
        },
        {
          "marker_id": 102,
          "link": "Board",
          "error_m": [
            -0.00013600903849941837,
            -0.000190094809003033,
            0.00038261680713974275
          ],
          "error_norm_m": 0.000448363821097607,
          "predicted_m": [
            0.649712246680626,
            -0.22298329820664672,
            -0.027419456145602768
          ],
          "observed_m": [
            0.6498482557191254,
            -0.2227932033976437,
            -0.02780207295274251
          ]
        },
        {
          "marker_id": 103,
          "link": "Board",
          "error_m": [
            -4.772273536859939e-06,
            0.0001558927351641426,
            -3.216445323070416e-07
          ],
          "error_norm_m": 0.0001559660954402375,
          "predicted_m": [
            0.1057316446043112,
            -0.18770288601290436,
            -0.027272554375566267
          ],
          "observed_m": [
            0.10573641687784806,
            -0.1878587787480685,
            -0.02727223273103396
          ]
        },
        {
          "marker_id": 105,
          "link": "Board",
          "error_m": [
            0.0002116687607344181,
            0.00022434563679629704,
            -0.00030475494066066824
          ],
          "error_norm_m": 0.0004336014332050435,
          "predicted_m": [
            0.5248630117757593,
            -0.2662354982846541,
            -0.02739239914154039
          ],
          "observed_m": [
            0.5246513430150249,
            -0.2664598439214504,
            -0.02708764420087972
          ]
        },
        {
          "marker_id": 114,
          "link": "Arm2",
          "error_m": [
            0.0004426882820167677,
            -0.013135350401750456,
            -0.01419056708012073
          ],
          "error_norm_m": 0.019341809562375672,
          "predicted_m": [
            0.28235664658584575,
            -0.16043102785254823,
            0.22019824124126552
          ],
          "observed_m": [
            0.281913958303829,
            -0.14729567745079777,
            0.23438880832138625
          ]
        },
        {
          "marker_id": 115,
          "link": "Arm2",
          "error_m": [
            0.024290096060715444,
            -0.03978013774507971,
            -0.022220646041312964
          ],
          "error_norm_m": 0.0516355036399338,
          "predicted_m": [
            0.2596289812677296,
            -0.20380890097270207,
            0.21298274730461253
          ],
          "observed_m": [
            0.23533888520701415,
            -0.16402876322762236,
            0.2352033933459255
          ]
        },
        {
          "marker_id": 120,
          "link": "Arm2",
          "error_m": [
            0.0003026062433769128,
            0.002114620961314123,
            -0.013561351376687125
          ],
          "error_norm_m": 0.013728563053376473,
          "predicted_m": [
            0.2823383780020887,
            -0.14893570418043747,
            0.15114856926585468
          ],
          "observed_m": [
            0.2820357717587118,
            -0.1510503251417516,
            0.1647099206425418
          ]
        },
        {
          "marker_id": 198,
          "link": "Arm1",
          "error_m": [
            -0.000999369811793216,
            -0.0013782216845906886,
            -0.008645370589097603
          ],
          "error_norm_m": 0.008811394194759048,
          "predicted_m": [
            0.15896805046728424,
            -0.054470606469258095,
            0.08177400289634576
          ],
          "observed_m": [
            0.15996742027907745,
            -0.05309238478466741,
            0.09041937348544336
          ]
        },
        {
          "marker_id": 205,
          "link": "Board",
          "error_m": [
            -5.006671163554355e-05,
            2.1165048207510972e-06,
            -0.0002114886335585359
          ],
          "error_norm_m": 0.00021734442097994972,
          "predicted_m": [
            0.7500271249111544,
            -0.08998511030436256,
            0.0001715445666394677
          ],
          "observed_m": [
            0.75007719162279,
            -0.08998722680918331,
            0.0003830332001980036
          ]
        },
        {
          "marker_id": 206,
          "link": "Board",
          "error_m": [
            -0.00010244785427382386,
            -0.0004777894848594748,
            0.00017382965480367723
          ],
          "error_norm_m": 0.0005186473788391864,
          "predicted_m": [
            0.6500257210846707,
            -0.009986873462998147,
            0.0002080822938108538
          ],
          "observed_m": [
            0.6501281689389445,
            -0.009509083978138672,
            3.4252639007176556e-05
          ]
        },
        {
          "marker_id": 207,
          "link": "Board",
          "error_m": [
            -0.0006581080226497615,
            -0.000433861471745239,
            0.0005291329254721933
          ],
          "error_norm_m": 0.0009493806396591862,
          "predicted_m": [
            0.750025717646431,
            -0.009985110989361739,
            0.0001819185473904473
          ],
          "observed_m": [
            0.7506838256690808,
            -0.0095512495176165,
            -0.00034721437808174607
          ]
        },
        {
          "marker_id": 208,
          "link": "Board",
          "error_m": [
            3.670025145363631e-05,
            2.9199448923003524e-05,
            -5.1625268070184236e-05
          ],
          "error_norm_m": 6.974729082541923e-05,
          "predicted_m": [
            0.3500271386641134,
            -0.08999216019890818,
            0.0002761995523210937
          ],
          "observed_m": [
            0.34999043841265975,
            -0.09002135964783119,
            0.0003278248203912779
          ]
        },
        {
          "marker_id": 210,
          "link": "Board",
          "error_m": [
            -4.198331445853104e-05,
            0.0003066847233939157,
            -9.23607503197693e-05
          ],
          "error_norm_m": 0.000323030380081746,
          "predicted_m": [
            0.020025918653671454,
            -0.019997976961282627,
            0.0003716171486655422
          ],
          "observed_m": [
            0.020067901968129985,
            -0.020304661684676543,
            0.0004639778989853115
          ]
        },
        {
          "marker_id": 211,
          "link": "Board",
          "error_m": [
            0.00010807411786095678,
            0.00027529169532617206,
            6.0644706240166064e-05
          ],
          "error_norm_m": 0.0003018995078862136,
          "predicted_m": [
            0.25002573483762963,
            -0.009993923357543783,
            0.0003127372794924798
          ],
          "observed_m": [
            0.24991766071976868,
            -0.010269215052869955,
            0.0002520925732523137
          ]
        },
        {
          "marker_id": 214,
          "link": "Board",
          "error_m": [
            7.23100831970247e-05,
            0.00027996229800264505,
            -0.0002693511552954145
          ],
          "error_norm_m": 0.00039516791531430913,
          "predicted_m": [
            0.35002573139938997,
            -0.009992160883907374,
            0.00028657353307207323
          ],
          "observed_m": [
            0.34995342131619295,
            -0.01027212318191002,
            0.0005559246883674878
          ]
        },
        {
          "marker_id": 215,
          "link": "Board",
          "error_m": [
            0.00020047129502520633,
            8.830003371299022e-05,
            -0.0001365160957813505
          ],
          "error_norm_m": 0.0002581129219744362,
          "predicted_m": [
            0.25002714210235305,
            -0.0899939226725446,
            0.00030236329874150017
          ],
          "observed_m": [
            0.24982667080732784,
            -0.09008222270625758,
            0.0004388793945228507
          ]
        },
        {
          "marker_id": 217,
          "link": "Board",
          "error_m": [
            -0.00011520168245726659,
            -0.00029924750252879884,
            6.039451249597691e-05
          ],
          "error_norm_m": 0.0003262943342295956,
          "predicted_m": [
            0.6500271283493941,
            -0.08998687277799897,
            0.0001977083130598742
          ],
          "observed_m": [
            0.6501423300318514,
            -0.08968762527547017,
            0.00013731380056389728
          ]
        },
        {
          "marker_id": 219,
          "link": "Arm2",
          "error_m": [
            -0.018652836994818844,
            -0.02766746779631049,
            -0.00993397340211738
          ],
          "error_norm_m": 0.03481523990681575,
          "predicted_m": [
            0.2650855912204819,
            -0.14631622623436363,
            0.2600618590128257
          ],
          "observed_m": [
            0.28373842821530076,
            -0.11864875843805314,
            0.26999583241494307
          ]
        },
        {
          "marker_id": 229,
          "link": "Arm1",
          "error_m": [
            -0.0010056707133092868,
            -0.0009698078539764343,
            -0.013483313474287897
          ],
          "error_norm_m": 0.013555502318363416,
          "predicted_m": [
            0.15896754935495447,
            -0.14411841633551006,
            0.0738197470585503
          ],
          "observed_m": [
            0.15997322006826376,
            -0.14314860848153363,
            0.08730306053283819
          ]
        },
        {
          "marker_id": 232,
          "link": "Ellbow",
          "error_m": [
            -0.001065997120317963,
            0.0071288086066639,
            -0.01807859630913358
          ],
          "error_norm_m": 0.019462577078064192,
          "predicted_m": [
            0.24895127790163096,
            -0.1613730824505952,
            0.010454754569169694
          ],
          "observed_m": [
            0.2500172750219489,
            -0.1685018910572591,
            0.028533350878303273
          ]
        },
        {
          "marker_id": 243,
          "link": "Arm1",
          "error_m": [
            -0.0008127361790504495,
            0.0013972159987953314,
            -0.015006075635644746
          ],
          "error_norm_m": 0.015092881057860292,
          "predicted_m": [
            0.158958178482318,
            -0.17588813184638963,
            0.035863389375752425
          ],
          "observed_m": [
            0.15977091466136845,
            -0.17728534784518496,
            0.05086946501139717
          ]
        },
        {
          "marker_id": 244,
          "link": "Ellbow",
          "error_m": [
            -0.001973554643621589,
            0.0015233484262741348,
            -0.01325559566870875
          ],
          "error_norm_m": 0.01348800670564344,
          "predicted_m": [
            0.28395836906130356,
            -0.141022891584135,
            0.038924006407425216
          ],
          "observed_m": [
            0.28593192370492515,
            -0.14254624001040914,
            0.052179602076133966
          ]
        },
        {
          "marker_id": 245,
          "link": "Ellbow",
          "error_m": [
            -0.0012805024433661383,
            0.0016066887646762062,
            -0.020438270770100707
          ],
          "error_norm_m": 0.020541276673224484,
          "predicted_m": [
            0.24895747495221682,
            -0.17554834564047686,
            0.033185501919239656
          ],
          "observed_m": [
            0.25023797739558296,
            -0.17715503440515307,
            0.05362377268934036
          ]
        },
        {
          "marker_id": 248,
          "link": "Ellbow",
          "error_m": [
            -0.001059707647064534,
            0.0016012381543593912,
            -0.02058822440031774
          ],
          "error_norm_m": 0.02067757064749295,
          "predicted_m": [
            0.21145747624162628,
            -0.17554900656809053,
            0.03319531332414729
          ],
          "observed_m": [
            0.2125171838886908,
            -0.17715024472244992,
            0.05378353772446503
          ]
        }
      ],
      "stage_idx": 2,
      "num_active_links": 5
    }
  ],
  "markers": [
    {
      "marker_id": 41,
      "link": "FingerA",
      "observed_position_m": [
        0.2604696179258959,
        -0.14289826359306226,
        0.3443845376382856
      ],
      "predicted_position_m": [
        0.2286388949568464,
        -0.17168328421704407,
        0.32498705212568807
      ],
      "error_m": [
        -0.03183072296904951,
        -0.028785020623981805,
        -0.019397485512597512
      ],
      "error_norm_m": 0.04709601661782942
    },
    {
      "marker_id": 42,
      "link": "FingerA",
      "observed_position_m": [
        0.29142894521099333,
        -0.17910742174815197,
        0.3448106425382629
      ],
      "predicted_position_m": [
        0.25726187978417253,
        -0.17870851409363908,
        0.36213016568318845
      ],
      "error_m": [
        -0.0341670654268208,
        0.00039890765451289223,
        0.017319523144925575
      ],
      "error_norm_m": 0.03830813711426196
    },
    {
      "marker_id": 43,
      "link": "FingerB",
      "observed_position_m": [
        0.24505913693461728,
        -0.17536757426841992,
        0.3450428980062189
      ],
      "predicted_position_m": [
        0.2265017165309545,
        -0.19804414862632422,
        0.3426991185203111
      ],
      "error_m": [
        -0.01855742040366279,
        -0.022676574357904294,
        -0.0023437794859078043
      ],
      "error_norm_m": 0.029395546923410096
    },
    {
      "marker_id": 44,
      "link": "FingerB",
      "observed_position_m": [
        0.26172112022130845,
        -0.173659507226198,
        0.2992789317400768
      ],
      "predicted_position_m": [
        0.26942775235137323,
        -0.20469107435792025,
        0.31948115506417085
      ],
      "error_m": [
        0.007706632130064783,
        -0.031031567131722254,
        0.02020222332409405
      ],
      "error_norm_m": 0.03782168907750289
    },
    {
      "marker_id": 46,
      "link": "Board",
      "observed_position_m": [
        0.536493873905045,
        0.18529088908596522,
        -0.02723229997913794
      ],
      "predicted_position_m": [
        0.5367250657751038,
        0.18545470705337558,
        -0.027336931986172867
      ],
      "error_m": [
        0.00023119187005882225,
        0.0001638179674103568,
        -0.00010463200703492853
      ],
      "error_norm_m": 0.0003020494398669089
    },
    {
      "marker_id": 47,
      "link": "Board",
      "observed_position_m": [
        0.34440081776354087,
        -0.28665042108629346,
        -0.02721289168213231
      ],
      "predicted_position_m": [
        0.3442533749030795,
        -0.2865286813145559,
        -0.02734777589999846
      ],
      "error_m": [
        -0.00014744286046136645,
        0.00012173977173757233,
        -0.0001348842178661505
      ],
      "error_norm_m": 0.0002339951310457321
    },
    {
      "marker_id": 51,
      "link": "Board",
      "observed_position_m": [
        0.16776826940204223,
        -0.17186292856664187,
        -0.027519305534479503
      ],
      "predicted_position_m": [
        0.16782136752516283,
        -0.1720717918268552,
        -0.027286772629229475
      ],
      "error_m": [
        5.309812312059847e-05,
        -0.00020886326021332668,
        0.0002325329052500283
      ],
      "error_norm_m": 0.00031704072951261117
    },
    {
      "marker_id": 53,
      "link": "Board",
      "observed_position_m": [
        0.48629542369920875,
        0.2121964752143647,
        -0.02723451317967848
      ],
      "predicted_position_m": [
        0.4862645960763571,
        0.2122538174797039,
        -0.02732025447617755
      ],
      "error_m": [
        -3.082762285167018e-05,
        5.734226533921083e-05,
        -8.574129649907211e-05
      ],
      "error_norm_m": 0.00010765708360465219
    },
    {
      "marker_id": 54,
      "link": "Board",
      "observed_position_m": [
        0.3423810472602854,
        -0.33059956200289875,
        -0.027213011941069766
      ],
      "predicted_position_m": [
        0.34229414984560724,
        -0.33057871548186146,
        -0.027352975263719628
      ],
      "error_m": [
        -8.689741467815537e-05,
        2.084652103728768e-05,
        -0.00013996332264986158
      ],
      "error_norm_m": 0.00016605863363370973
    },
    {
      "marker_id": 55,
      "link": "Board",
      "observed_position_m": [
        0.28377579231257,
        -0.26265908056621023,
        -0.027283499335788094
      ],
      "predicted_position_m": [
        0.2837429555077737,
        -0.2625697479925105,
        -0.027328837209804554
      ],
      "error_m": [
        -3.283680479632123e-05,
        8.93325736997519e-05,
        -4.533787401645936e-05
      ],
      "error_norm_m": 0.00010542337166580117
    },
    {
      "marker_id": 56,
      "link": "Board",
      "observed_position_m": [
        0.49863867893658487,
        0.16872591040111304,
        -0.02731879550117035
      ],
      "predicted_position_m": [
        0.4986953620805339,
        0.16868403692824455,
        -0.027329156559124112
      ],
      "error_m": [
        5.6683143949021186e-05,
        -4.187347286849219e-05,
        -1.0361057953760244e-05
      ],
      "error_norm_m": 7.123003622022796e-05
    },
    {
      "marker_id": 58,
      "link": "Board",
      "observed_position_m": [
        0.050003198410856056,
        -0.21796855305581667,
        -0.02728610062167888
      ],
      "predicted_position_m": [
        0.05011218127725505,
        -0.21810386604044124,
        -0.027261944212492607
      ],
      "error_m": [
        0.00010898286639899474,
        -0.00013531298462457486,
        2.4156409186272543e-05
      ],
      "error_norm_m": 0.00017541493973241332
    },
    {
      "marker_id": 60,
      "link": "Board",
      "observed_position_m": [
        0.43435641266087854,
        0.2837798025136165,
        -0.027308025948451647
      ],
      "predicted_position_m": [
        0.43437333888625645,
        0.2838229023193166,
        -0.02729739728563066
      ],
      "error_m": [
        1.692622537791122e-05,
        4.309980570010863e-05,
        1.0628662820987705e-05
      ],
      "error_norm_m": 4.750851324018894e-05
    },
    {
      "marker_id": 61,
      "link": "Board",
      "observed_position_m": [
        -0.0224291106955053,
        0.33622619316368946,
        -0.027483833170688213
      ],
      "predicted_position_m": [
        -0.0224075604824385,
        0.3358348512468195,
        -0.0271711408437482
      ],
      "error_m": [
        2.1550213066802437e-05,
        -0.00039134191686995834,
        0.0003126923269400131
      ],
      "error_norm_m": 0.0005013874738262195
    },
    {
      "marker_id": 62,
      "link": "Board",
      "observed_position_m": [
        0.40467564778526965,
        -0.17509090416232104,
        -0.02740995491313332
      ],
      "predicted_position_m": [
        0.4047214125042162,
        -0.1750876165009518,
        -0.027349146162272766
      ],
      "error_m": [
        4.5764718946572636e-05,
        3.2876613692278678e-06,
        6.080875086055329e-05
      ],
      "error_norm_m": 7.617691513023049e-05
    },
    {
      "marker_id": 63,
      "link": "Board",
      "observed_position_m": [
        0.7773652350199328,
        -0.23622461415673698,
        -0.02763843742969368
      ],
      "predicted_position_m": [
        0.7774224736087888,
        -0.2361310472389689,
        -0.02745457508924221
      ],
      "error_m": [
        5.723858885597899e-05,
        9.356691776807313e-05,
        0.00018386234045146901
      ],
      "error_norm_m": 0.0002140943352616623
    },
    {
      "marker_id": 64,
      "link": "Board",
      "observed_position_m": [
        -0.021289765830559533,
        -0.188083069951051,
        -0.02712427415338315
      ],
      "predicted_position_m": [
        -0.021248341882591285,
        -0.18822512399747535,
        -0.027239399081236515
      ],
      "error_m": [
        4.1423947968247804e-05,
        -0.00014205404642433916,
        -0.00011512492785336476
      ],
      "error_norm_m": 0.0001874807845728379
    },
    {
      "marker_id": 66,
      "link": "Board",
      "observed_position_m": [
        0.20990072389999853,
        -0.3633269340522861,
        -0.027341757772533833
      ],
      "predicted_position_m": [
        0.2097747285659698,
        -0.3632210508324448,
        -0.027322535651109706
      ],
      "error_m": [
        -0.00012599533402873897,
        0.00010588321984128513,
        1.9222121424126992e-05
      ],
      "error_norm_m": 0.00016569722506130062
    },
    {
      "marker_id": 68,
      "link": "Board",
      "observed_position_m": [
        0.5737374995183492,
        0.17050042960782963,
        -0.027342333364656114
      ],
      "predicted_position_m": [
        0.5737453248462413,
        0.1706553596478406,
        -0.027348536991536634
      ],
      "error_m": [
        7.825327892119205e-06,
        0.00015493004001096433,
        -6.2036268805194805e-06
      ],
      "error_norm_m": 0.00015525153152510572
    },
    {
      "marker_id": 69,
      "link": "Board",
      "observed_position_m": [
        0.007692517743585046,
        -0.28082072580594697,
        -0.02755588195181212
      ],
      "predicted_position_m": [
        0.007633292717869882,
        -0.28120461419894877,
        -0.027259012330330554
      ],
      "error_m": [
        -5.922502571516393e-05,
        -0.00038388839300179667,
        0.0002968696214815658
      ],
      "error_norm_m": 0.0004888859520492196
    },
    {
      "marker_id": 72,
      "link": "Board",
      "observed_position_m": [
        0.44062335975291167,
        0.19401682351846258,
        -0.02691986395124442
      ],
      "predicted_position_m": [
        0.4410049128598024,
        0.1943330199375759,
        -0.027310736536235895
      ],
      "error_m": [
        0.00038155310689075295,
        0.0003161964191133182,
        -0.00039087258499147584
      ],
      "error_norm_m": 0.0006311452499512217
    },
    {
      "marker_id": 73,
      "link": "Board",
      "observed_position_m": [
        0.22175328849501175,
        0.332598245991324,
        -0.026763194580874092
      ],
      "predicted_position_m": [
        0.2217424789700998,
        0.3331191543494928,
        -0.027235372345979156
      ],
      "error_m": [
        -1.0809524911947754e-05,
        0.0005209083581688145,
        -0.00047217776510506335
      ],
      "error_norm_m": 0.0007031459345673303
    },
    {
      "marker_id": 75,
      "link": "Board",
      "observed_position_m": [
        -0.025705968635623168,
        0.19453200939131401,
        -0.02731620022627215
      ],
      "predicted_position_m": [
        -0.02568507566788694,
        0.1945847946471359,
        -0.02718859923262906
      ],
      "error_m": [
        2.089296773622948e-05,
        5.2785255821891086e-05,
        0.00012760099364308997
      ],
      "error_norm_m": 0.00013965963236280373
    },
    {
      "marker_id": 79,
      "link": "Board",
      "observed_position_m": [
        0.3124096919708483,
        -0.15869604320103042,
        -0.027523487240718965
      ],
      "predicted_position_m": [
        0.31232113440411313,
        -0.15909924516350613,
        -0.027322897361177708
      ],
      "error_m": [
        -8.855756673514792e-05,
        -0.00040320196247570217,
        0.00020058987954125682
      ],
      "error_norm_m": 0.00045896684514753745
    },
    {
      "marker_id": 82,
      "link": "Board",
      "observed_position_m": [
        0.21923469698309384,
        0.29733491019075753,
        -0.02732893030228632
      ],
      "predicted_position_m": [
        0.21917311004078294,
        0.2972491093610568,
        -0.027239351371315373
      ],
      "error_m": [
        -6.158694231089834e-05,
        -8.580082970072178e-05,
        8.957893097094605e-05
      ],
      "error_norm_m": 0.00013848869525862282
    },
    {
      "marker_id": 83,
      "link": "Board",
      "observed_position_m": [
        0.04422663993658066,
        0.33933713487534917,
        -0.027353240056650727
      ],
      "predicted_position_m": [
        0.04417237759553884,
        0.3392260246727398,
        -0.027188121068680585
      ],
      "error_m": [
        -5.426234104181915e-05,
        -0.00011111020260934357,
        0.00016511898797014202
      ],
      "error_norm_m": 0.00020628659425060074
    },
    {
      "marker_id": 84,
      "link": "Board",
      "observed_position_m": [
        0.4073602620250038,
        0.25837020980279285,
        -0.027255712837248796
      ],
      "predicted_position_m": [
        0.40750378644075314,
        0.25843242896005214,
        -0.02729365952910834
      ],
      "error_m": [
        0.00014352441574932984,
        6.221915725929117e-05,
        -3.7946691859542386e-05
      ],
      "error_norm_m": 0.00016096717947869355
    },
    {
      "marker_id": 85,
      "link": "Board",
      "observed_position_m": [
        0.5044193503911354,
        -0.312542856275203,
        -0.027496174609869733
      ],
      "predicted_position_m": [
        0.5046038304449671,
        -0.3127358549636571,
        -0.027393128242827122
      ],
      "error_m": [
        0.00018448005383175925,
        -0.0001929986884540713,
        0.00010304636704261058
      ],
      "error_norm_m": 0.0002861816516959829
    },
    {
      "marker_id": 86,
      "link": "Board",
      "observed_position_m": [
        0.3633162183690467,
        0.29224893372202293,
        -0.027400524484833745
      ],
      "predicted_position_m": [
        0.36290319709893226,
        0.2920216426091962,
        -0.027277634723037018
      ],
      "error_m": [
        -0.00041302127011444423,
        -0.00022729111282671077,
        0.00012288976179672742
      ],
      "error_norm_m": 0.00048718550172537946
    },
    {
      "marker_id": 92,
      "link": "Board",
      "observed_position_m": [
        0.6453365713852278,
        -0.18509978851039263,
        -0.027175066681182154
      ],
      "predicted_position_m": [
        0.645111575573512,
        -0.1848233796071786,
        -0.027413304224449212
      ],
      "error_m": [
        -0.0002249958117158668,
        0.0002764089032140371,
        -0.0002382375432670586
      ],
      "error_norm_m": 0.0004286981736462057
    },
    {
      "marker_id": 95,
      "link": "Board",
      "observed_position_m": [
        0.1858987899622817,
        -0.2741719606117706,
        -0.027290062217411773
      ],
      "predicted_position_m": [
        0.18606316098464215,
        -0.27406146947837556,
        -0.02730477042528646
      ],
      "error_m": [
        0.00016437102236044332,
        0.00011049113339506311,
        -1.4708207874688378e-05
      ],
      "error_norm_m": 0.00019860124604248594
    },
    {
      "marker_id": 96,
      "link": "Board",
      "observed_position_m": [
        0.36971512389810823,
        -0.18657651675758513,
        -0.02725058699805003
      ],
      "predicted_position_m": [
        0.36979161406450833,
        -0.18647823203546626,
        -0.027341484161157538
      ],
      "error_m": [
        7.649016640010053e-05,
        9.828472211886874e-05,
        -9.089716310750964e-05
      ],
      "error_norm_m": 0.00015418471525703036
    },
    {
      "marker_id": 97,
      "link": "Board",
      "observed_position_m": [
        0.3041708365401228,
        -0.35973117993192777,
        -0.027144115022725745
      ],
      "predicted_position_m": [
        0.3043746626901148,
        -0.35965938356286725,
        -0.027346824913079992
      ],
      "error_m": [
        0.00020382614999203685,
        7.179636906051723e-05,
        -0.0002027098903542475
      ],
      "error_norm_m": 0.00029629565922956305
    },
    {
      "marker_id": 102,
      "link": "Board",
      "observed_position_m": [
        0.6498482557191254,
        -0.2227932033976437,
        -0.02780207295274251
      ],
      "predicted_position_m": [
        0.649712246680626,
        -0.22298329820664672,
        -0.027419456145602768
      ],
      "error_m": [
        -0.00013600903849941837,
        -0.000190094809003033,
        0.00038261680713974275
      ],
      "error_norm_m": 0.000448363821097607
    },
    {
      "marker_id": 103,
      "link": "Board",
      "observed_position_m": [
        0.10573641687784806,
        -0.1878587787480685,
        -0.02727223273103396
      ],
      "predicted_position_m": [
        0.1057316446043112,
        -0.18770288601290436,
        -0.027272554375566267
      ],
      "error_m": [
        -4.772273536859939e-06,
        0.0001558927351641426,
        -3.216445323070416e-07
      ],
      "error_norm_m": 0.0001559660954402375
    },
    {
      "marker_id": 105,
      "link": "Board",
      "observed_position_m": [
        0.5246513430150249,
        -0.2664598439214504,
        -0.02708764420087972
      ],
      "predicted_position_m": [
        0.5248630117757593,
        -0.2662354982846541,
        -0.02739239914154039
      ],
      "error_m": [
        0.0002116687607344181,
        0.00022434563679629704,
        -0.00030475494066066824
      ],
      "error_norm_m": 0.0004336014332050435
    },
    {
      "marker_id": 114,
      "link": "Arm2",
      "observed_position_m": [
        0.281913958303829,
        -0.14729567745079777,
        0.23438880832138625
      ],
      "predicted_position_m": [
        0.28235664658584575,
        -0.16043102785254823,
        0.22019824124126552
      ],
      "error_m": [
        0.0004426882820167677,
        -0.013135350401750456,
        -0.01419056708012073
      ],
      "error_norm_m": 0.019341809562375672
    },
    {
      "marker_id": 115,
      "link": "Arm2",
      "observed_position_m": [
        0.23533888520701415,
        -0.16402876322762236,
        0.2352033933459255
      ],
      "predicted_position_m": [
        0.2596289812677296,
        -0.20380890097270207,
        0.21298274730461253
      ],
      "error_m": [
        0.024290096060715444,
        -0.03978013774507971,
        -0.022220646041312964
      ],
      "error_norm_m": 0.0516355036399338
    },
    {
      "marker_id": 120,
      "link": "Arm2",
      "observed_position_m": [
        0.2820357717587118,
        -0.1510503251417516,
        0.1647099206425418
      ],
      "predicted_position_m": [
        0.2823383780020887,
        -0.14893570418043747,
        0.15114856926585468
      ],
      "error_m": [
        0.0003026062433769128,
        0.002114620961314123,
        -0.013561351376687125
      ],
      "error_norm_m": 0.013728563053376473
    },
    {
      "marker_id": 198,
      "link": "Arm1",
      "observed_position_m": [
        0.15996742027907745,
        -0.05309238478466741,
        0.09041937348544336
      ],
      "predicted_position_m": [
        0.15896805046728424,
        -0.054470606469258095,
        0.08177400289634576
      ],
      "error_m": [
        -0.000999369811793216,
        -0.0013782216845906886,
        -0.008645370589097603
      ],
      "error_norm_m": 0.008811394194759048
    },
    {
      "marker_id": 205,
      "link": "Board",
      "observed_position_m": [
        0.75007719162279,
        -0.08998722680918331,
        0.0003830332001980036
      ],
      "predicted_position_m": [
        0.7500271249111544,
        -0.08998511030436256,
        0.0001715445666394677
      ],
      "error_m": [
        -5.006671163554355e-05,
        2.1165048207510972e-06,
        -0.0002114886335585359
      ],
      "error_norm_m": 0.00021734442097994972
    },
    {
      "marker_id": 206,
      "link": "Board",
      "observed_position_m": [
        0.6501281689389445,
        -0.009509083978138672,
        3.4252639007176556e-05
      ],
      "predicted_position_m": [
        0.6500257210846707,
        -0.009986873462998147,
        0.0002080822938108538
      ],
      "error_m": [
        -0.00010244785427382386,
        -0.0004777894848594748,
        0.00017382965480367723
      ],
      "error_norm_m": 0.0005186473788391864
    },
    {
      "marker_id": 207,
      "link": "Board",
      "observed_position_m": [
        0.7506838256690808,
        -0.0095512495176165,
        -0.00034721437808174607
      ],
      "predicted_position_m": [
        0.750025717646431,
        -0.009985110989361739,
        0.0001819185473904473
      ],
      "error_m": [
        -0.0006581080226497615,
        -0.000433861471745239,
        0.0005291329254721933
      ],
      "error_norm_m": 0.0009493806396591862
    },
    {
      "marker_id": 208,
      "link": "Board",
      "observed_position_m": [
        0.34999043841265975,
        -0.09002135964783119,
        0.0003278248203912779
      ],
      "predicted_position_m": [
        0.3500271386641134,
        -0.08999216019890818,
        0.0002761995523210937
      ],
      "error_m": [
        3.670025145363631e-05,
        2.9199448923003524e-05,
        -5.1625268070184236e-05
      ],
      "error_norm_m": 6.974729082541923e-05
    },
    {
      "marker_id": 210,
      "link": "Board",
      "observed_position_m": [
        0.020067901968129985,
        -0.020304661684676543,
        0.0004639778989853115
      ],
      "predicted_position_m": [
        0.020025918653671454,
        -0.019997976961282627,
        0.0003716171486655422
      ],
      "error_m": [
        -4.198331445853104e-05,
        0.0003066847233939157,
        -9.23607503197693e-05
      ],
      "error_norm_m": 0.000323030380081746
    },
    {
      "marker_id": 211,
      "link": "Board",
      "observed_position_m": [
        0.24991766071976868,
        -0.010269215052869955,
        0.0002520925732523137
      ],
      "predicted_position_m": [
        0.25002573483762963,
        -0.009993923357543783,
        0.0003127372794924798
      ],
      "error_m": [
        0.00010807411786095678,
        0.00027529169532617206,
        6.0644706240166064e-05
      ],
      "error_norm_m": 0.0003018995078862136
    },
    {
      "marker_id": 214,
      "link": "Board",
      "observed_position_m": [
        0.34995342131619295,
        -0.01027212318191002,
        0.0005559246883674878
      ],
      "predicted_position_m": [
        0.35002573139938997,
        -0.009992160883907374,
        0.00028657353307207323
      ],
      "error_m": [
        7.23100831970247e-05,
        0.00027996229800264505,
        -0.0002693511552954145
      ],
      "error_norm_m": 0.00039516791531430913
    },
    {
      "marker_id": 215,
      "link": "Board",
      "observed_position_m": [
        0.24982667080732784,
        -0.09008222270625758,
        0.0004388793945228507
      ],
      "predicted_position_m": [
        0.25002714210235305,
        -0.0899939226725446,
        0.00030236329874150017
      ],
      "error_m": [
        0.00020047129502520633,
        8.830003371299022e-05,
        -0.0001365160957813505
      ],
      "error_norm_m": 0.0002581129219744362
    },
    {
      "marker_id": 217,
      "link": "Board",
      "observed_position_m": [
        0.6501423300318514,
        -0.08968762527547017,
        0.00013731380056389728
      ],
      "predicted_position_m": [
        0.6500271283493941,
        -0.08998687277799897,
        0.0001977083130598742
      ],
      "error_m": [
        -0.00011520168245726659,
        -0.00029924750252879884,
        6.039451249597691e-05
      ],
      "error_norm_m": 0.0003262943342295956
    },
    {
      "marker_id": 219,
      "link": "Arm2",
      "observed_position_m": [
        0.28373842821530076,
        -0.11864875843805314,
        0.26999583241494307
      ],
      "predicted_position_m": [
        0.2650855912204819,
        -0.14631622623436363,
        0.2600618590128257
      ],
      "error_m": [
        -0.018652836994818844,
        -0.02766746779631049,
        -0.00993397340211738
      ],
      "error_norm_m": 0.03481523990681575
    },
    {
      "marker_id": 229,
      "link": "Arm1",
      "observed_position_m": [
        0.15997322006826376,
        -0.14314860848153363,
        0.08730306053283819
      ],
      "predicted_position_m": [
        0.15896754935495447,
        -0.14411841633551006,
        0.0738197470585503
      ],
      "error_m": [
        -0.0010056707133092868,
        -0.0009698078539764343,
        -0.013483313474287897
      ],
      "error_norm_m": 0.013555502318363416
    },
    {
      "marker_id": 232,
      "link": "Ellbow",
      "observed_position_m": [
        0.2500172750219489,
        -0.1685018910572591,
        0.028533350878303273
      ],
      "predicted_position_m": [
        0.24895127790163096,
        -0.1613730824505952,
        0.010454754569169694
      ],
      "error_m": [
        -0.001065997120317963,
        0.0071288086066639,
        -0.01807859630913358
      ],
      "error_norm_m": 0.019462577078064192
    },
    {
      "marker_id": 243,
      "link": "Arm1",
      "observed_position_m": [
        0.15977091466136845,
        -0.17728534784518496,
        0.05086946501139717
      ],
      "predicted_position_m": [
        0.158958178482318,
        -0.17588813184638963,
        0.035863389375752425
      ],
      "error_m": [
        -0.0008127361790504495,
        0.0013972159987953314,
        -0.015006075635644746
      ],
      "error_norm_m": 0.015092881057860292
    },
    {
      "marker_id": 244,
      "link": "Ellbow",
      "observed_position_m": [
        0.28593192370492515,
        -0.14254624001040914,
        0.052179602076133966
      ],
      "predicted_position_m": [
        0.28395836906130356,
        -0.141022891584135,
        0.038924006407425216
      ],
      "error_m": [
        -0.001973554643621589,
        0.0015233484262741348,
        -0.01325559566870875
      ],
      "error_norm_m": 0.01348800670564344
    },
    {
      "marker_id": 245,
      "link": "Ellbow",
      "observed_position_m": [
        0.25023797739558296,
        -0.17715503440515307,
        0.05362377268934036
      ],
      "predicted_position_m": [
        0.24895747495221682,
        -0.17554834564047686,
        0.033185501919239656
      ],
      "error_m": [
        -0.0012805024433661383,
        0.0016066887646762062,
        -0.020438270770100707
      ],
      "error_norm_m": 0.020541276673224484
    },
    {
      "marker_id": 248,
      "link": "Ellbow",
      "observed_position_m": [
        0.2125171838886908,
        -0.17715024472244992,
        0.05378353772446503
      ],
      "predicted_position_m": [
        0.21145747624162628,
        -0.17554900656809053,
        0.03319531332414729
      ],
      "error_m": [
        -0.001059707647064534,
        0.0016012381543593912,
        -0.02058822440031774
      ],
      "error_norm_m": 0.02067757064749295
    }
  ]
}