{
  "coordinateSystem": {"handedness": "right", "x": "right", "y": "backward", "z": "up"},
  "units": {"length": "mm", "rotation": "degree"},
  "vision_config": {"MarkerType": "DICT_4X4_250", "MarkerSize": 0.025},
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    "height": 3264,
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    "cameraPosition__3": [-200, -900, 200],
    "cameraPosition__4": [1200, 200, 300],
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    "cameraPosition": [-200, 200, 1400],
    "cameraPosition_c": [600, -500, 600],
    "cameraTarget": [200, -200, 180],
    "cameraUpVector": [0, 0, 1],
    "lightPosition": [-500, -500, 500],
    "lightTarget": [0, 0, 0],
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    "metric": "mm",
    "showSkeleton": true,
    "showMarkers": true,
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    "backgroundStrength": 0.2,
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    "areaEnergy": 120,
    "exposure": -1.5,
    "lensDirt": true,
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    "dofEnabled": true,
    "dofFStop": 5.6,
    "arucoDust": false,
    "arucoDustStrength": 5e-05,
    "localizedBlur": false,
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    "vignette": true,
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    "sensorNoise": true,
    "sensorNoiseStrength": 0.01,
    "lensDistortion": true,
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    "skeletonDefaults": {"radius": 4, "color": [0.85, 0.2, 0.2]},
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  "constraint_rules": {
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    "joint_axis_projection": {"enabled": true, "max_pairs": 2, "weight": 0.35},
    "chain_axis_projection": {"enabled": false, "max_depth": 3, "max_pairs": 2, "weight": 0.15},
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  "observation_weighting": {"enabled": true, "distance_weight": true, "marker_size_weight": true, "view_angle_weight": true},
  "multiview_calculation": {
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    "size_ref_px": 50.0,
    "border_ref_px": 120.0,
    "center_ref_norm": 0.01,
    "sharpness_ref": 2500.0,
    "homography_ref": 0.18,
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    "aspect_factor": 0.3,
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  "movements": {"x": null, "y": null, "z": null, "a": null, "b": null, "c": null, "e": null},
  "state_pose_params": {
    "numbers_of_Elements_to_consider_start": 3,
    "numbers_of_Elements_to_consider_final": 5,
    "solver_in_between_geometrical": false,
    "solver_after_geometrical": false,
    "geometric_passes_per_stage": 2,
    "revolute_search_coarse_deg": 5.0,
    "revolute_search_fine_deg": 1.0,
    "root_pose_min_markers": 3,
    "use_marker_normals_flip_tiebreak": true,
    "normal_flip_weight": 0.05
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        {"id": 215, "position": [250, -90, 0.3], "normal": [0, 0, 1]},
        {"id": 214, "position": [350, -10, 0.3], "normal": [0, 0, 1]},
        {"id": 208, "position": [350, -90, 0.3], "normal": [0, 0, 1]},
        {"id": 206, "position": [650, -10, 0.3], "normal": [0, 0, 1]},
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        {
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          "position": [536.71, 185.44, -27.3],
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          "spin": 90,
          "info": "is placed on a white paper, A0_60Arucos_25mm_Seet223.pdf, with the following marker placements:"
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      "model": [
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          "originOfModel": [0, 0, 0],
          "rotationOfModelDegree": [0, 0, -90],
          "material": "wood"
        },
        {
          "stlFile": "surfaces/BoardRail.stl",
          "originOfModel": [0, 0, 0],
          "rotationOfModelDegree": [0, 0, -90],
          "material": "steel"
        }
      ]
    },
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      "size": [150, 200, 150],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
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        "axis": [1, 0, 0],
        "origin": [0, 0, 16],
        "rotation": [0, 0, 0],
        "variable": "x"
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      "skeleton": {"from": [0, 108, 45], "to": [110, 108, 45], "radius": 4, "color": [0.2, 0.8, 0.2]},
      "markers": [],
      "model": [
        {
          "stlFile": "surfaces/Base.stl",
          "originOfModel": [-30, 0, -35],
          "rotationOfModelDegree": [0, 0, 0],
          "material": "plaWhite"
        }
      ]
    },
    "Arm1": {
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      "size": [70, 250, 70],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
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        "type": "revolute",
        "axis": [-1, 0, 0],
        "origin": [110, 108, 45],
        "rotation": [0, 0, 0],
        "variable": "y"
      },
      "skeleton": {"from": [0, 0, 0], "to": [0, -250, 0], "radius": 4, "color": [0.2, 0.2, 0.9]},
      "markers": [
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        {"id": 229, "name": "aruco_229", "position": [0, -250, 35], "normal": [0, 0, 1], "size": 25, "spin": 0},
        {"id": 242, "name": "aruco_242", "position": [0, -250, -35], "normal": [0, 0, -1], "size": 25, "spin": 0},
        {"id": 243, "name": "aruco_243", "position": [0, -285, 0], "normal": [0, -1, 0], "size": 25, "spin": 0}
      ],
      "model": [
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          "originOfModel__": [-25, 29, -28.5],
          "originOfModel": [-29, 25, 28.5],
          "rotationOfModelDegree__": [0, 0, 0],
          "rotationOfModelDegree": [180, 0, -90],
          "material": "powderCoatBlue"
        }
      ]
    },
    "Ellbow": {
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      "mountRotation": [0, 0, 0],
      "jointToParent": {
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        "type": "revolute",
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        "variable": "z"
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      "skeleton": {"from": [0, 0, 0], "to": [90, 0, 0], "radius": 4, "color": [0.9, 0.2, 0.2]},
      "model": [
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          "originOfModel": [90, 0, 0],
          "rotationOfModelDegree": [0, -90, -90],
          "material": "defaultPlastic"
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      ],
      "markers": [
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        {"id": 245, "name": "aruco_245", "position": [90, 0, -35], "normal": [0, 0, -1], "size": 25, "spin": 0},
        {"id": 246, "name": "aruco_246", "position": [90, 0, 35], "normal": [0, 0, 1], "size": 25},
        {"id": 247, "name": "aruco_247", "position": [52.5, 0, 35], "normal": [0, 0, 1], "size": 25},
        {"id": 248, "name": "aruco_248", "position": [52.5, 0, -35], "normal": [0, 0, -1], "size": 25},
        {"id": 232, "name": "aruco_232", "position": [90, 24.75, -24.75], "normal": [0, 1, -1], "size": 25},
        {"id": 231, "name": "aruco_231", "position": [90, 24.75, 24.75], "normal": [0, 1, 1], "size": 25}
      ]
    },
    "Arm2": {
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      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
        "name": "Joint3",
        "type": "revolute",
        "axis": [0, -1, 0],
        "origin": [90, 0, 0],
        "rotation": [0, 0, 0],
        "variable": "a"
      },
      "skeleton": {"from": [0, 0, 0], "to": [0, -250, 0], "radius": 4, "color": [0.95, 0.85, 0.2]},
      "model": [
        {
          "stlFile": "surfaces/Unterarm.stl",
          "originOfModel": [0, -250, 0],
          "rotationOfModelDegree": [180, 0, -90],
          "material": "defaultPlastic"
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      ],
      "markers": [
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        {"id": 218, "name": "aruco_218", "position": [35, -112, 0], "normal": [1, 0, 0]},
        {"id": 113, "name": "aruco_113", "position": [0, -182, 30], "normal": [0, 0, 1]},
        {"id": 114, "name": "aruco_114", "position": [24.75, -182, -24.75], "normal": [1, 0, -1]},
        {"id": 115, "name": "aruco_115", "position": [-24.75, -182, -24.75], "normal": [-1, 0, -1]},
        {"id": 124, "name": "aruco_124", "position": [-35, -219, 0], "normal": [-1, 0, 0]},
        {"id": 219, "name": "aruco_219", "position": [35, -219, 0], "normal": [1, 0, 0]}
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    "Hand": {
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      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
        "name": "Joint4",
        "type": "revolute",
        "axis": [1, 0, 0],
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        "rotation": [0, 0, 0],
        "variable": "b"
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      "skeleton": {"from": [0, 0, 0], "to": [0, -35, 0], "radius": 4, "color": [0.95, 0.55, 0.15]}
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    "Palm": {
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      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
        "name": "Joint3",
        "type": "revolute",
        "axis": [0, -1, 0],
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        "variable": "c"
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      "skeleton": {"from": [-50, -35, 0], "to": [50, -35, 0], "radius": 7, "color": [0.95, 0.2, 0.2]}
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    "FingerA": {
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      "size": [80, 60, 20],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
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      "skeleton": {"from": [0, 0, 0], "to": [0, -60, 0], "radius": 4, "color": [0.2, 0.8, 0.2]},
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      "model": [
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          "stlFile": "surfaces/Finger.stl",
          "originOfModel": [24, 0, -9.1],
          "rotationOfModelDegree": [90, -90, 0],
          "material": "defaultPlastic"
        }
      ]
    },
    "FingerB": {
      "parent": "Palm",
      "size": [80, 60, 20],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
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        "variable": "e"
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      "skeleton": {"from": [0, 0, 0], "to": [0, -60, 0], "radius": 4, "color": [0.2, 0.8, 0.2]},
      "markers": [
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      "model": [
        {
          "stlFile": "surfaces/Finger.stl",
          "originOfModel": [-24, 0, 9.1],
          "rotationOfModelDegree": [90, 90, 0],
          "material": "defaultPlastic"
        }
      ]
    }
  }
}