[
  {
    "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": [
      0.25,
      0.022391222417354584,
      0.20075473189353943
    ],
    "position_mm": [
      250.0,
      22.391222417354584,
      200.75473189353943
    ],
    "rotation_quaternion": [
      0.9205048084259033,
      -0.39073115587234497,
      0.0,
      0.0
    ],
    "normal": [
      0.0,
      0.7193398475646973,
      0.6946583390235901
    ]
  },
  {
    "name": "aruco_229",
    "id": 229,
    "link": "Arm1",
    "position_m": [
      0.25,
      -0.040128037333488464,
      0.26549533009529114
    ],
    "position_mm": [
      250.0,
      -40.128037333488464,
      265.49533009529114
    ],
    "rotation_quaternion": [
      0.9205048084259033,
      -0.39073115587234497,
      0.0,
      0.0
    ],
    "normal": [
      0.0,
      0.7193398475646973,
      0.6946583390235901
    ]
  },
  {
    "name": "aruco_242",
    "id": 242,
    "link": "Arm1",
    "position_m": [
      0.25,
      -0.09120115637779236,
      0.21617457270622253
    ],
    "position_mm": [
      250.0,
      -91.20115637779236,
      216.17457270622253
    ],
    "rotation_quaternion": [
      0.27628862857818604,
      0.6508952379226685,
      0.6508952975273132,
      -0.27628862857818604
    ],
    "normal": [
      2.9802318834981634e-08,
      -0.7193397879600525,
      -0.6946584582328796
    ]
  },
  {
    "name": "aruco_243",
    "id": 243,
    "link": "Arm1",
    "position_m": [
      0.25,
      -0.09032496064901352,
      0.266371488571167
    ],
    "position_mm": [
      250.0,
      -90.32496064901352,
      266.371488571167
    ],
    "rotation_quaternion": [
      0.9271838665008545,
      0.3746066093444824,
      0.0,
      0.0
    ],
    "normal": [
      0.0,
      -0.6946583986282349,
      0.7193398475646973
    ]
  },
  {
    "name": "aruco_244",
    "id": 244,
    "link": "Ellbow",
    "position_m": [
      0.37549999356269836,
      -0.06566459685564041,
      0.24083495140075684
    ],
    "position_mm": [
      375.49999356269836,
      -65.66459685564041,
      240.83495140075684
    ],
    "rotation_quaternion": [
      0.6916548013687134,
      0.1470157951116562,
      0.6916548013687134,
      0.1470157951116562
    ],
    "normal": [
      1.0,
      0.0,
      -1.6763806343078613e-08
    ]
  },
  {
    "name": "aruco_245",
    "id": 245,
    "link": "Ellbow",
    "position_m": [
      0.3400000035762787,
      -0.0512254424393177,
      0.20840409398078918
    ],
    "position_mm": [
      340.0000035762787,
      -51.2254424393177,
      208.40409398078918
    ],
    "rotation_quaternion": [
      0.14701582491397858,
      -0.6916547417640686,
      -0.6916548013687134,
      -0.1470157504081726
    ],
    "normal": [
      -1.1920930376163597e-07,
      0.40673673152923584,
      -0.9135454893112183
    ]
  },
  {
    "name": "aruco_246",
    "id": 246,
    "link": "Ellbow",
    "position_m": [
      0.3400000035762787,
      -0.08010375499725342,
      0.2732658088207245
    ],
    "position_mm": [
      340.0000035762787,
      -80.10375499725342,
      273.2658088207245
    ],
    "rotation_quaternion": [
      0.9781476259231567,
      0.20791172981262207,
      0.0,
      0.0
    ],
    "normal": [
      0.0,
      -0.40673667192459106,
      0.9135453701019287
    ]
  },
  {
    "name": "aruco_247",
    "id": 247,
    "link": "Ellbow",
    "position_m": [
      0.30250000953674316,
      -0.08010375499725342,
      0.2732658088207245
    ],
    "position_mm": [
      302.50000953674316,
      -80.10375499725342,
      273.2658088207245
    ],
    "rotation_quaternion": [
      0.9781476259231567,
      0.20791172981262207,
      0.0,
      0.0
    ],
    "normal": [
      0.0,
      -0.40673667192459106,
      0.9135453701019287
    ]
  },
  {
    "name": "Arm2_marker_120",
    "id": 120,
    "link": "Arm2",
    "position_m": [
      0.34918853640556335,
      -0.1819295436143875,
      0.22660782933235168
    ],
    "position_mm": [
      349.18853640556335,
      -181.9295436143875,
      226.60782933235168
    ],
    "rotation_quaternion": [
      0.9697794318199158,
      0.20613299310207367,
      0.1276739090681076,
      0.027137938886880875
    ],
    "normal": [
      0.2588190734386444,
      -0.39287739992141724,
      0.8824170827865601
    ]
  },
  {
    "name": "aruco_122",
    "id": 122,
    "link": "Arm2",
    "position_m": [
      0.3577499985694885,
      -0.15547701716423035,
      0.16719448566436768
    ],
    "position_mm": [
      357.7499985694885,
      -155.47701716423035,
      167.19448566436768
    ],
    "rotation_quaternion": [
      0.2531631588935852,
      0.05381150171160698,
      0.9448180794715881,
      0.20082731544971466
    ],
    "normal": [
      0.49999988079071045,
      0.35224437713623047,
      -0.791153609752655
    ]
  },
  {
    "name": "aruco_218",
    "id": 218,
    "link": "Arm2",
    "position_m": [
      0.32225000858306885,
      -0.18048636615276337,
      0.2233663946390152
    ],
    "position_mm": [
      322.25000858306885,
      -180.48636615276337,
      223.3663946390152
    ],
    "rotation_quaternion": [
      0.9448180198669434,
      0.20082733035087585,
      -0.2531631886959076,
      -0.053811509162187576
    ],
    "normal": [
      -0.5,
      -0.35224440693855286,
      0.791153609752655
    ]
  },
  {
    "name": "aruco_113",
    "id": 113,
    "link": "Arm2",
    "position_m": [
      0.3135862350463867,
      -0.2257271409034729,
      0.1528773009777069
    ],
    "position_mm": [
      313.5862350463867,
      -225.7271409034729,
      152.8773009777069
    ],
    "rotation_quaternion": [
      0.48907387256622314,
      0.10395587980747223,
      -0.8471006751060486,
      -0.1800568401813507
    ],
    "normal": [
      -0.866025447845459,
      0.20336830615997314,
      -0.4567725956439972
    ]
  },
  {
    "name": "aruco_101",
    "id": 101,
    "link": "Arm2",
    "position_m": [
      0.34918853640556335,
      -0.2458777278661728,
      0.19813625514507294
    ],
    "position_mm": [
      349.18853640556335,
      -245.8777278661728,
      198.13625514507294
    ],
    "rotation_quaternion": [
      0.9697794318199158,
      0.20613299310207367,
      0.1276739090681076,
      0.027137938886880875
    ],
    "normal": [
      0.2588190734386444,
      -0.39287739992141724,
      0.8824170827865601
    ]
  },
  {
    "name": "aruco_102",
    "id": 102,
    "link": "Arm2",
    "position_m": [
      0.3742921054363251,
      -0.2281925529241562,
      0.15841472148895264
    ],
    "position_mm": [
      374.2921054363251,
      -228.1925529241562,
      158.41472148895264
    ],
    "rotation_quaternion": [
      0.595458447933197,
      0.12656863033771515,
      0.7760167121887207,
      0.1649474799633026
    ],
    "normal": [
      0.9659258127212524,
      0.10527129471302032,
      -0.23644313216209412
    ]
  },
  {
    "name": "aruco_124",
    "id": 124,
    "link": "Arm2",
    "position_m": [
      0.3577499985694885,
      -0.2532263696193695,
      0.12367365509271622
    ],
    "position_mm": [
      357.7499985694885,
      -253.2263696193695,
      123.67365509271622
    ],
    "rotation_quaternion": [
      0.2531631588935852,
      0.05381150171160698,
      0.9448180794715881,
      0.20082731544971466
    ],
    "normal": [
      0.49999988079071045,
      0.35224437713623047,
      -0.791153609752655
    ]
  },
  {
    "name": "aruco_219",
    "id": 219,
    "link": "Arm2",
    "position_m": [
      0.32225000858306885,
      -0.2782357335090637,
      0.17984557151794434
    ],
    "position_mm": [
      322.25000858306885,
      -278.2357335090637,
      179.84557151794434
    ],
    "rotation_quaternion": [
      0.9448180198669434,
      0.20082733035087585,
      -0.2531631886959076,
      -0.053811509162187576
    ],
    "normal": [
      -0.5,
      -0.35224440693855286,
      0.791153609752655
    ]
  }
]