[ { "name": "Board_marker_210", "id": 210, "link": "Board", "position_m": [ 0.019999999552965164, -0.019999999552965164, 0.000800000037997961 ], "position_mm": [ 19.999999552965164, -19.999999552965164, 0.800000037997961 ], "rotation_quaternion": [ 1.0, 0.0, 0.0, 0.0 ], "normal": [ 0.0, 0.0, 1.0 ] }, { "name": "Board_marker_211", "id": 211, "link": "Board", "position_m": [ 0.25, -0.009999999776482582, 0.000800000037997961 ], "position_mm": [ 250.0, -9.999999776482582, 0.800000037997961 ], "rotation_quaternion": [ 1.0, 0.0, 0.0, 0.0 ], "normal": [ 0.0, 0.0, 1.0 ] }, { "name": "Board_marker_215", "id": 215, "link": "Board", "position_m": [ 0.25, -0.09000000357627869, 0.000800000037997961 ], "position_mm": [ 250.0, -90.00000357627869, 0.800000037997961 ], "rotation_quaternion": [ 1.0, 0.0, 0.0, 0.0 ], "normal": [ 0.0, 0.0, 1.0 ] }, { "name": "Board_marker_214", "id": 214, "link": "Board", "position_m": [ 0.3499999940395355, -0.009999999776482582, 0.000800000037997961 ], "position_mm": [ 349.9999940395355, -9.999999776482582, 0.800000037997961 ], "rotation_quaternion": [ 1.0, 0.0, 0.0, 0.0 ], "normal": [ 0.0, 0.0, 1.0 ] }, { "name": "Board_marker_208", "id": 208, "link": "Board", "position_m": [ 0.3499999940395355, -0.09000000357627869, 0.000800000037997961 ], "position_mm": [ 349.9999940395355, -90.00000357627869, 0.800000037997961 ], "rotation_quaternion": [ 1.0, 0.0, 0.0, 0.0 ], "normal": [ 0.0, 0.0, 1.0 ] }, { "name": "Board_marker_206", "id": 206, "link": "Board", "position_m": [ 0.6499999761581421, -0.009999999776482582, 0.000800000037997961 ], "position_mm": [ 649.9999761581421, -9.999999776482582, 0.800000037997961 ], "rotation_quaternion": [ 1.0, 0.0, 0.0, 0.0 ], "normal": [ 0.0, 0.0, 1.0 ] }, { "name": "Board_marker_205", "id": 205, "link": "Board", "position_m": [ 0.75, -0.09000000357627869, 0.000800000037997961 ], "position_mm": [ 750.0, -90.00000357627869, 0.800000037997961 ], "rotation_quaternion": [ 1.0, 0.0, 0.0, 0.0 ], "normal": [ 0.0, 0.0, 1.0 ] }, { "name": "Board_marker_207", "id": 207, "link": "Board", "position_m": [ 0.75, -0.009999999776482582, 0.000800000037997961 ], "position_mm": [ 750.0, -9.999999776482582, 0.800000037997961 ], "rotation_quaternion": [ 1.0, 0.0, 0.0, 0.0 ], "normal": [ 0.0, 0.0, 1.0 ] }, { "name": "Board_marker_217", "id": 217, "link": "Board", "position_m": [ 0.6499999761581421, -0.09000000357627869, 0.000800000037997961 ], "position_mm": [ 649.9999761581421, -90.00000357627869, 0.800000037997961 ], "rotation_quaternion": [ 1.0, 0.0, 0.0, 0.0 ], "normal": [ 0.0, 0.0, 1.0 ] }, { "name": "aruco_198", "id": 198, "link": "Arm1", "position_m": [ 0.2900000214576721, 0.13225246965885162, 0.22308659553527832 ], "position_mm": [ 290.0000214576721, 132.25246965885162, 223.08659553527832 ], "rotation_quaternion": [ 0.7313537001609802, -0.6819983720779419, 0.0, 0.0 ], "normal": [ 0.0, 0.9975640773773193, 0.06975647807121277 ] }, { "name": "aruco_229", "id": 229, "link": "Arm1", "position_m": [ 0.2900000214576721, 0.1259743720293045, 0.3128673732280731 ], "position_mm": [ 290.0000214576721, 125.9743720293045, 312.8673732280731 ], "rotation_quaternion": [ 0.7313537001609802, -0.6819983720779419, 0.0, 0.0 ], "normal": [ 0.0, 0.9975640773773193, 0.06975647807121277 ] }, { "name": "aruco_242", "id": 242, "link": "Arm1", "position_m": [ 0.2900000214576721, 0.05514732748270035, 0.307914674282074 ], "position_mm": [ 290.0000214576721, 55.14732748270035, 307.914674282074 ], "rotation_quaternion": [ 0.4822455942630768, 0.5171451568603516, 0.5171452164649963, -0.4822455644607544 ], "normal": [ 8.940698137394065e-08, -0.9975640773773193, -0.06975672394037247 ] }, { "name": "aruco_243", "id": 243, "link": "Arm1", "position_m": [ 0.2900000214576721, 0.08808448910713196, 0.34580451250076294 ], "position_mm": [ 290.0000214576721, 88.08448910713196, 345.80451250076294 ], "rotation_quaternion": [ 0.9993908405303955, 0.03489954397082329, 0.0, 0.0 ], "normal": [ 0.0, -0.06975656747817993, 0.9975640773773193 ] }, { "name": "aruco_244", "id": 244, "link": "Ellbow", "position_m": [ 0.4155000150203705, 0.09056085348129272, 0.31039100885391235 ], "position_mm": [ 415.5000150203705, 90.56085348129272, 310.39100885391235 ], "rotation_quaternion": [ 0.676209568977356, 0.20673811435699463, 0.676209568977356, 0.20673811435699463 ], "normal": [ 1.0, 0.0, 2.607702853651972e-08 ] }, { "name": "aruco_245", "id": 245, "link": "Ellbow", "position_m": [ 0.3800000250339508, 0.11041221022605896, 0.28096017241477966 ], "position_mm": [ 380.0000250339508, 110.41221022605896, 280.96017241477966 ], "rotation_quaternion": [ 0.2067381590604782, -0.676209568977356, -0.676209568977356, -0.20673811435699463 ], "normal": [ -5.960463766996327e-08, 0.5591931939125061, -0.8290373086929321 ] }, { "name": "aruco_246", "id": 246, "link": "Ellbow", "position_m": [ 0.3800000250339508, 0.07070949673652649, 0.33982184529304504 ], "position_mm": [ 380.0000250339508, 70.70949673652649, 339.82184529304504 ], "rotation_quaternion": [ 0.9563047289848328, 0.29237180948257446, 0.0, 0.0 ], "normal": [ 0.0, -0.5591930747032166, 0.8290374279022217 ] }, { "name": "aruco_247", "id": 247, "link": "Ellbow", "position_m": [ 0.3425000309944153, 0.07070949673652649, 0.33982184529304504 ], "position_mm": [ 342.5000309944153, 70.70949673652649, 339.82184529304504 ], "rotation_quaternion": [ 0.9563047289848328, 0.29237180948257446, 0.0, 0.0 ], "normal": [ 0.0, -0.5591930747032166, 0.8290374279022217 ] }, { "name": "Arm2_marker_120", "id": 120, "link": "Arm2", "position_m": [ 0.37081149220466614, 0.016884557902812958, 0.21933193504810333 ], "position_mm": [ 370.81149220466614, 16.884557902812958, 219.33193504810333 ], "rotation_quaternion": [ 0.12482281029224396, 0.03816218301653862, -0.9481233954429626, -0.28987058997154236 ], "normal": [ -0.25881901383399963, 0.5401390790939331, -0.8007885813713074 ] }, { "name": "aruco_122", "id": 122, "link": "Arm2", "position_m": [ 0.36225003004074097, -0.019483134150505066, 0.27324920892715454 ], "position_mm": [ 362.25003004074097, -19.483134150505066, 273.24920892715454 ], "rotation_quaternion": [ 0.9237194657325745, 0.2824094891548157, -0.24750985205173492, -0.07567139714956284 ], "normal": [ -0.49999988079071045, -0.4842754304409027, 0.7179675102233887 ] }, { "name": "aruco_218", "id": 218, "link": "Arm2", "position_m": [ 0.39775002002716064, 0.014900431036949158, 0.22227352857589722 ], "position_mm": [ 397.75002002716064, 14.900431036949158, 222.27352857589722 ], "rotation_quaternion": [ 0.24750986695289612, 0.07567141205072403, 0.9237194657325745, 0.2824094891548157 ], "normal": [ 0.4999999403953552, 0.4842754006385803, -0.7179675102233887 ] }, { "name": "aruco_113", "id": 113, "link": "Arm2", "position_m": [ 0.4064137935638428, -0.06885166466236115, 0.2212606817483902 ], "position_mm": [ 406.4137935638428, -68.85166466236115, 221.2606817483902 ], "rotation_quaternion": [ 0.828184187412262, 0.253201425075531, 0.47815239429473877, 0.14618593454360962 ], "normal": [ 0.866025447845459, -0.2795965075492859, 0.4145187437534332 ] }, { "name": "aruco_101", "id": 101, "link": "Arm2", "position_m": [ 0.37081149220466614, -0.04114805907011032, 0.18018841743469238 ], "position_mm": [ 370.81149220466614, -41.14805907011032, 180.18841743469238 ], "rotation_quaternion": [ 0.12482281029224396, 0.03816218301653862, -0.9481233954429626, -0.28987058997154236 ], "normal": [ -0.25881901383399963, 0.5401390790939331, -0.8007885813713074 ] }, { "name": "aruco_102", "id": 102, "link": "Arm2", "position_m": [ 0.3457079231739044, -0.0654621347784996, 0.21623548865318298 ], "position_mm": [ 345.7079231739044, -65.4621347784996, 216.23548865318298 ], "rotation_quaternion": [ 0.7586875557899475, 0.2319541722536087, -0.5821614265441895, -0.17798471450805664 ], "normal": [ -0.9659258723258972, -0.1447298228740692, 0.21457071602344513 ] }, { "name": "aruco_124", "id": 124, "link": "Arm2", "position_m": [ 0.36225003004074097, -0.1081901341676712, 0.21341554820537567 ], "position_mm": [ 362.25003004074097, -108.1901341676712, 213.41554820537567 ], "rotation_quaternion": [ 0.9237194657325745, 0.2824094891548157, -0.24750985205173492, -0.07567139714956284 ], "normal": [ -0.49999988079071045, -0.4842754304409027, 0.7179675102233887 ] }, { "name": "aruco_219", "id": 219, "link": "Arm2", "position_m": [ 0.39775002002716064, -0.07380656898021698, 0.16243985295295715 ], "position_mm": [ 397.75002002716064, -73.80656898021698, 162.43985295295715 ], "rotation_quaternion": [ 0.24750986695289612, 0.07567141205072403, 0.9237194657325745, 0.2824094891548157 ], "normal": [ 0.4999999403953552, 0.4842754006385803, -0.7179675102233887 ] }, { "name": "FingerA_marker_40", "id": 40, "link": "FingerA", "position_m": [ 0.3903598487377167, -0.16245591640472412, 0.12312574684619904 ], "position_mm": [ 390.3598487377167, -162.45591640472412, 123.12574684619904 ], "rotation_quaternion": [ 0.00047839104081504047, -0.177643820643425, -0.9121214151382446, -0.36942800879478455 ], "normal": [ 0.13038049638271332, 0.6740963459014893, -0.7270454168319702 ] }, { "name": "FingerA_marker_41", "id": 41, "link": "FingerA", "position_m": [ 0.3667393624782562, -0.16298790276050568, 0.16668358445167542 ], "position_mm": [ 366.7393624782562, -162.98790276050568, 166.68358445167542 ], "rotation_quaternion": [ 0.5471516251564026, 0.7730997800827026, -0.3062758445739746, -0.09558753669261932 ], "normal": [ -0.48295605182647705, -0.787453293800354, -0.3829762637615204 ] }, { "name": "FingerA_marker_42", "id": 42, "link": "FingerA", "position_m": [ 0.37803414463996887, -0.18306580185890198, 0.12539319694042206 ], "position_mm": [ 378.0341446399689, -183.06580185890198, 125.39319694042206 ], "rotation_quaternion": [ 0.7558663487434387, 0.6153563261032104, 0.1284194439649582, 0.1830604076385498 ], "normal": [ 0.41943061351776123, -0.8832373023033142, 0.20969009399414062 ] }, { "name": "FingerB_marker_43", "id": 43, "link": "FingerB", "position_m": [ 0.33135876059532166, -0.14928503334522247, 0.13855642080307007 ], "position_mm": [ 331.35876059532166, -149.28503334522247, 138.55642080307007 ], "rotation_quaternion": [ 0.7705803513526917, 0.26156336069107056, -0.26088663935661316, 0.5193541049957275 ], "normal": [ -0.13038022816181183, -0.6740962862968445, 0.7270455956459045 ] }, { "name": "FingerB_marker_44", "id": 44, "link": "FingerB", "position_m": [ 0.3688197433948517, -0.12042809277772903, 0.12374269217252731 ], "position_mm": [ 368.8197433948517, -120.42809277772903, 123.74269217252731 ], "rotation_quaternion": [ 0.16055524349212646, 0.42056193947792053, -0.8736730813980103, 0.1845129281282425 ], "normal": [ -0.12534736096858978, -0.4574548006057739, -0.8803540468215942 ] }, { "name": "FingerB_marker_45", "id": 45, "link": "FingerB", "position_m": [ 0.3332028090953827, -0.1501261293888092, 0.11452052742242813 ], "position_mm": [ 333.2028090953827, -150.1261293888092, 114.52052742242813 ], "rotation_quaternion": [ 0.17917531728744507, 0.4258763790130615, -0.7947980761528015, -0.39347371459007263 ], "normal": [ -0.6199586987495422, 0.4728512465953827, -0.6261492967605591 ] } ]