{ "schema_version": "1.0", "method": "deterministic_geometric_sequential_prefix", "created_utc": "2026-05-31T08:49:12Z", "root_pose": { "translation_m": [ 0.001526507103262853, 0.0022330480587029536, 0.0006287159025313571 ], "rotation_matrix": [ [ 0.9999775934898915, 0.004425233522945128, 0.005022930064517553 ], [ -0.004500750690443569, 0.9998754947010853, 0.015124097972558738 ], [ -0.004955377017755958, -0.015146366050260571, 0.9998730078535389 ] ], "euler_xyz_deg": [ -0.867866691064683, 0.28392335101396876, -0.25787805606298114 ] }, "movements": { "x": { "value_m": 0.1233454219218383, "value_mm": 123.3454219218383, "joint_type": "linear", "link": "Base" }, "y": { "value_rad": -0.7659818573540562, "value_deg": -43.88752760997928, "joint_type": "revolute", "link": "Arm1" }, "z": { "value_rad": 1.3783860329557154, "value_deg": 78.9757022281429, "joint_type": "revolute", "link": "Ellbow" }, "a": { "value_rad": 2.003495699359215, "value_deg": 114.79184784589425, "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": [ 0.001526507103262853, 0.0022330480587029536, 0.0006287159025313571 ], "rotation_matrix": [ [ 0.9999775934898915, 0.004425233522945128, 0.005022930064517553 ], [ -0.004500750690443569, 0.9998754947010853, 0.015124097972558738 ], [ -0.004955377017755958, -0.015146366050260571, 0.9998730078535389 ] ] }, "Base": { "translation_m": [ 0.12494953216556696, 0.0019198866333866814, 0.0160154609591517 ], "rotation_matrix": [ [ 0.9999775934898915, 0.004425233522945128, 0.005022930064517553 ], [ -0.004500750690443569, 0.9998754947010853, 0.015124097972558738 ], [ -0.004955377017755958, -0.015146366050260571, 0.9998730078535389 ] ] }, "Arm1": { "translation_m": [ 0.23565102452283637, 0.11009194189392024, 0.05882884730717966 ], "rotation_matrix": [ [ 0.9999775934893328, 0.006671395763080112, 0.0005522650975259166 ], [ -0.0045007506904410546, 0.7310970107381736, -0.6822586783119503 ], [ -0.004955377017753189, 0.6822409056684585, 0.7311106556946985 ] ] }, "Ellbow": { "translation_m": [ 0.23398317558206636, -0.07268231079062315, -0.11173137910993497 ], "rotation_matrix": [ [ 0.9999775934877152, 0.0007336657128729166, 0.006653890049231119 ], [ -0.004500750690433774, 0.809472615910375, 0.5871403812816404 ], [ -0.004955377017745173, -0.5871571730149848, 0.8094577805004872 ] ] }, "Arm2": { "translation_m": [ 0.3239811589959607, -0.07308737835276219, -0.11217736304153203 ], "rotation_matrix": [ [ -0.41327287372752697, 0.0007336657128708341, -0.9106069369215308 ], [ 0.5349151181844798, 0.8094726159080773, -0.24211546919898194 ], [ 0.7369337474792982, -0.5871571730133182, -0.3349255230632639 ] ] }, "Hand": { "translation_m": [ 0.32379774256774296, -0.2754555323297815, 0.03461193021179751 ], "rotation_matrix": [ [ -0.41327287372752697, 0.0007336657128708341, -0.9106069369215308 ], [ 0.5349151181844798, 0.8094726159080773, -0.24211546919898194 ], [ 0.7369337474792982, -0.5871571730133182, -0.3349255230632639 ] ] }, "Palm": { "translation_m": [ 0.32379774256774296, -0.2754555323297815, 0.03461193021179751 ], "rotation_matrix": [ [ -0.41327287372752697, 0.0007336657128708341, -0.9106069369215308 ], [ 0.5349151181844798, 0.8094726159080773, -0.24211546919898194 ], [ 0.7369337474792982, -0.5871571730133182, -0.3349255230632639 ] ] }, "FingerA": { "translation_m": [ 0.3221189727728824, -0.3016474134138263, 0.05811016625718084 ], "rotation_matrix": [ [ -0.41327287372752697, 0.0007336657128708341, -0.9106069369215308 ], [ 0.5349151181844798, 0.8094726159080773, -0.24211546919898194 ], [ 0.7369337474792982, -0.5871571730133182, -0.3349255230632639 ] ] }, "FingerB": { "translation_m": [ 0.3254251557627026, -0.3059267343593021, 0.052214696277346456 ], "rotation_matrix": [ [ -0.41327287372752697, 0.0007336657128708341, -0.9106069369215308 ], [ 0.5349151181844798, 0.8094726159080773, -0.24211546919898194 ], [ 0.7369337474792982, -0.5871571730133182, -0.3349255230632639 ] ] } }, "stage_reports": [ { "method": "deterministic_geometric_prefix", "active_links": [ "Board", "Base", "Arm1" ], "active_observations": 42, "joint_updates": [ { "pass": 0, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.0, "new": 0.1031317241613468, "info": { "reason": "weighted_projection", "used_markers": 2, "axis_world": [ 0.9999775934888914, -0.004500750690439068, -0.004955377017751002 ], "per_marker": [ { "marker_id": 242, "q_i": 0.11550957814977855, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.09075387017291507, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 0.0, "new": 2.096762593257374, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 2, "axis_world": [ -0.9999775934888914, 0.004500750690439068, 0.004955377017751002 ], "axis_id": 0, "theta_rad": -1.0448300603324192, "theta_alt_rad": 2.096762593257374, "score_theta": 0.5692254767720216, "score_theta_alt": 0.2655203999270917, "best_score": 0.2655203999270917, "per_marker": [ { "marker_id": 242, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 } ] } } ] }, { "pass": 1, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.1031317241613468, "new": 0.10313172416134683, "info": { "reason": "weighted_projection", "used_markers": 2, "axis_world": [ 0.9999775934888914, -0.004500750690439068, -0.004955377017751002 ], "per_marker": [ { "marker_id": 242, "q_i": 0.11550957814977858, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.0907538701729151, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 2.096762593257374, "new": 2.096762593257374, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 2, "axis_world": [ -0.9999775934888914, 0.004500750690439068, 0.004955377017751002 ], "axis_id": 0, "theta_rad": -1.0448300603324192, "theta_alt_rad": 2.096762593257374, "score_theta": 0.5692254767720216, "score_theta_alt": 0.2655203999270917, "best_score": 0.2655203999270917, "per_marker": [ { "marker_id": 242, "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, 52, 53, 54, 55, 56, 58, 60, 61, 62, 63, 64, 66, 68, 69, 72, 75, 77, 79, 83, 84, 85, 92, 95, 96, 97, 102, 103, 105 ] }, "marker_stats": { "num_markers_used": 42, "mean_error_m": 0.024795553679170555, "rms_error_m": 0.06876215360086076, "median_error_m": 0.006530513939207956, "worst_error_m": 0.34134712367740216 }, "marker_reports": [ { "marker_id": 46, "link": "Board", "error_m": [ -0.012908357952040372, -0.010207876075251116, 0.013985073276577477 ], "error_norm_m": 0.02159649771460478, "predicted_m": [ 0.5389079706189561, 0.18482147401835336, -0.03213615973143038 ], "observed_m": [ 0.5518163285709965, 0.19502935009360448, -0.046121233008007856 ] }, { "marker_id": 47, "link": "Board", "error_m": [ 0.0010498932317613008, 0.0017773294998767453, 0.005477075623620271 ], "error_norm_m": 0.005853164386559265, "predicted_m": [ 0.3443436617058622, -0.2862334574777683, -0.024033566914650726 ], "observed_m": [ 0.3432937684741009, -0.28801078697764504, -0.029510642538270997 ] }, { "marker_id": 51, "link": "Board", "error_m": [ 0.0017812069836050382, -0.0025230722927245264, 0.009849544619266973 ], "error_norm_m": 0.010322408697570956, "predicted_m": [ 0.1684241271154769, -0.1709936409099671, -0.024892942805520867 ], "observed_m": [ 0.16664292013187187, -0.16847056861724258, -0.03474248742478784 ] }, { "marker_id": 52, "link": "Board", "error_m": [ 0.01305464812148073, 0.028814662356838328, -0.032153336918371744 ], "error_norm_m": 0.04510593840394636, "predicted_m": [ 0.09699062889102218, 0.21002804983300935, -0.030297433047958764 ], "observed_m": [ 0.08393598076954145, 0.18121338747617102, 0.0018559038704129825 ] }, { "marker_id": 53, "link": "Board", "error_m": [ 4.1524115299229614e-05, -0.0012827615591776698, -0.0030325351542050474 ], "error_norm_m": 0.0032929425946020894, "predicted_m": [ 0.48856769750987117, 0.21184524515618225, -0.0322920340172614 ], "observed_m": [ 0.48852617339457194, 0.21312800671535992, -0.02925949886305635 ] }, { "marker_id": 54, "link": "Board", "error_m": [ 0.0027467583153943376, -0.0030001436330559517, -0.013548808173682477 ], "error_norm_m": 0.014146227270526909, "predicted_m": [ 0.34218877408593623, -0.3302691515479978, -0.023356656951181946 ], "observed_m": [ 0.3394420157705419, -0.32726900791494185, -0.009807848777499469 ] }, { "marker_id": 55, "link": "Board", "error_m": [ 0.0005006658137158282, 0.0004989649485536707, 0.003841826723756093 ], "error_norm_m": 0.003906310900616511, "predicted_m": [ 0.2839410461189986, -0.2620041002004515, -0.024096623981870555 ], "observed_m": [ 0.2834403803052828, -0.2625030651490052, -0.027938450705626647 ] }, { "marker_id": 56, "link": "Board", "error_m": [ -0.01190849449372866, -0.013896424983166983, 0.02006965740903304 ], "error_norm_m": 0.027160891313355463, "predicted_m": [ 0.5008046115723558, 0.16822472552097373, -0.03169370218478225 ], "observed_m": [ 0.5127131060660844, 0.1821211505041407, -0.05176335959381529 ] }, { "marker_id": 58, "link": "Board", "error_m": [ -0.00015397302462388102, 0.0024949618172493693, 0.0046951907132772135 ], "error_norm_m": 0.0053191501196985114, "predicted_m": [ 0.05051307108672063, -0.21648812656728597, -0.02361245814746732 ], "observed_m": [ 0.05066704411134451, -0.21898308838453534, -0.028307648860744532 ] }, { "marker_id": 60, "link": "Board", "error_m": [ 0.002738275425795633, -0.004390002132968696, -0.0021702321777583855 ], "error_norm_m": 0.005610719984134288, "predicted_m": [ 0.43699557414691786, 0.28363987826526604, -0.033118924922027185 ], "observed_m": [ 0.43425729872112223, 0.28802988039823474, -0.0309486927442688 ] }, { "marker_id": 61, "link": "Board", "error_m": [ -0.008729810989958155, -0.02488936097269756, 0.026906938996231748 ], "error_norm_m": 0.03767855166665209, "predicted_m": [ -0.01954399035953118, 0.3377092543999973, -0.03164332176979118 ], "observed_m": [ -0.010814179369573025, 0.3625986153726949, -0.058550260766022925 ] }, { "marker_id": 62, "link": "Board", "error_m": [ 0.0013449455751512462, 0.0057384518817231445, 0.0025783362342821463 ], "error_norm_m": 0.00643323607028244, "predicted_m": [ 0.4053054548079929, -0.17507949274253046, -0.026021129595555467 ], "observed_m": [ 0.40396050923284166, -0.1808179446242536, -0.028599465829837613 ] }, { "marker_id": 63, "link": "Board", "error_m": [ -0.017218916952065455, 0.007683261787512163, 0.022191846824885876 ], "error_norm_m": 0.029120468371864643, "predicted_m": [ 0.7777269433950996, -0.23779932147636001, -0.026943312962704705 ], "observed_m": [ 0.7949458603471651, -0.24548258326387218, -0.04913515978759058 ] }, { "marker_id": 64, "link": "Board", "error_m": [ -0.0007745268570881099, 0.0010794065666502872, 0.0038781198291383476 ], "error_norm_m": 0.004099368707207805, "predicted_m": [ -0.02071310400705243, -0.18629067321634743, -0.02371141586106204 ], "observed_m": [ -0.01993857714996432, -0.18737007978299772, -0.027589535690200388 ] }, { "marker_id": 66, "link": "Board", "error_m": [ -0.0013877997390944474, -0.0036044874051766596, 0.0010242476523267298 ], "error_norm_m": 0.00399592302518512, "predicted_m": [ 0.20952730377446688, -0.3623086482135437, -0.022205593000908422 ], "observed_m": [ 0.21091510351356133, -0.35870416080836703, -0.02322984065323515 ] }, { "marker_id": 68, "link": "Board", "error_m": [ 0.005485929757955144, -0.0014348902038141542, -0.012081451413012121 ], "error_norm_m": 0.013346003276306813, "predicted_m": [ 0.5758616476738124, 0.1698566989062171, -0.03209544157108385 ], "observed_m": [ 0.5703757179158573, 0.17129158911003126, -0.020013990158071728 ] }, { "marker_id": 69, "link": "Board", "error_m": [ -0.010464061630526619, -0.004823523607819236, -0.034683082209372426 ], "error_norm_m": 0.03654694456920763, "predicted_m": [ 0.007754790679972199, -0.27938907839359434, -0.022446218033981606 ], "observed_m": [ 0.01821885231049882, -0.2745655547857751, 0.012236864175390822 ] }, { "marker_id": 72, "link": "Board", "error_m": [ 0.001534801108487971, -0.006298543811810525, 0.0013568973548418045 ], "error_norm_m": 0.006623325375027959, "predicted_m": [ 0.44322941144378747, 0.19413118026738826, -0.03179633077381709 ], "observed_m": [ 0.4416946103352995, 0.2004297240791988, -0.033153228128658896 ] }, { "marker_id": 75, "link": "Board", "error_m": [ 0.0041405703327046135, -0.0024574201299061293, 0.006523450247215179 ], "error_norm_m": 0.008107936821586195, "predicted_m": [ -0.023448981101294022, 0.19649160323573367, -0.02948764392857363 ], "observed_m": [ -0.027589551433998636, 0.1989490233656398, -0.03601109417578881 ] }, { "marker_id": 77, "link": "Board", "error_m": [ 0.004270521640567546, -0.0010700376682142854, 0.005579068628516835 ], "error_norm_m": 0.00710692215066789, "predicted_m": [ 0.020426715524073248, 0.19328444004887982, -0.029659544864071657 ], "observed_m": [ 0.016156193883505702, 0.1943544777170941, -0.03523861349258849 ] }, { "marker_id": 79, "link": "Board", "error_m": [ 0.002931254485037893, 0.0025320231883179944, 0.0029217590403681735 ], "error_norm_m": 0.004851811019836607, "predicted_m": [ 0.31297828465355887, -0.15867561421846313, -0.025805443152258484 ], "observed_m": [ 0.310047030168521, -0.16120763740678112, -0.028727202192626658 ] }, { "marker_id": 83, "link": "Board", "error_m": [ 0.004416573031188281, 0.0022472712894280322, -0.005247746703131745 ], "error_norm_m": 0.007217699844710729, "predicted_m": [ 0.047049519356668575, 0.34079917234606427, -0.03202459695254375 ], "observed_m": [ 0.04263294632548029, 0.33855190105663624, -0.026776850249412003 ] }, { "marker_id": 84, "link": "Board", "error_m": [ 0.0034965065337434487, -0.0052207668163380405, -0.0014007317484231105 ], "error_norm_m": 0.006437702503387954, "predicted_m": [ 0.4100138195306969, 0.25837397462585776, -0.03260120770754397 ], "observed_m": [ 0.40651731299695343, 0.2635947414421958, -0.031200475959120857 ] }, { "marker_id": 85, "link": "Board", "error_m": [ -0.000158309018039815, 0.0015219089989804147, 0.0043452100564496735 ], "error_norm_m": 0.004606747136650944, "predicted_m": [ 0.5045740834513299, -0.3131618895670964, -0.024431175365270563 ], "observed_m": [ 0.5047323924693697, -0.3146837985660768, -0.028776385421720237 ] }, { "marker_id": 92, "link": "Board", "error_m": [ -0.00212962694819796, 0.0018920028557388169, -0.00020486768449404572 ], "error_norm_m": 0.0028560386049149874, "predicted_m": [ 0.6456469667325145, -0.18590021551939476, -0.027064827071524283 ], "observed_m": [ 0.6477765936807125, -0.18779221837513357, -0.026859959387030237 ] }, { "marker_id": 95, "link": "Board", "error_m": [ -0.00023614883342362725, -0.0032603744778859634, 0.0025756886423556474 ], "error_norm_m": 0.004161728005280666, "predicted_m": [ 0.18621238885372735, -0.2730530363071244, -0.023438551008858662 ], "observed_m": [ 0.18644853768715097, -0.26979266182923844, -0.02601423965121431 ] }, { "marker_id": 96, "link": "Board", "error_m": [ 0.002421877949804585, 0.0014184365837894009, 0.004337564752345511 ], "error_norm_m": 0.005166422662420486, "predicted_m": [ 0.37032583405756464, -0.18631086340555864, -0.025675521167012782 ], "observed_m": [ 0.36790395610776006, -0.18772929998934804, -0.030013085919358293 ] }, { "marker_id": 97, "link": "Board", "error_m": [ -0.0011327202459437413, -0.004886750791674721, 0.006727836164899831 ], "error_norm_m": 0.00839208960374223, "predicted_m": [ 0.3041409379499523, -0.3591748624677238, -0.02272829272992706 ], "observed_m": [ 0.305273658195896, -0.35428811167604907, -0.02945612889482689 ] }, { "marker_id": 102, "link": "Board", "error_m": [ -0.0036196954645962842, 0.0012816379700715252, 0.005929273616382149 ], "error_norm_m": 0.0070640694192988665, "predicted_m": [ 0.6500779967513324, -0.2240761678503642, -0.026509636477328017 ], "observed_m": [ 0.6536976922159287, -0.2253578058204357, -0.032438910093710166 ] }, { "marker_id": 103, "link": "Board", "error_m": [ 0.0003242889664059334, 0.001622982535756462, 0.004493728241626731 ], "error_norm_m": 0.004788823358059554, "predicted_m": [ 0.10626635193572592, -0.18634224328177543, -0.024348525745122827 ], "observed_m": [ 0.10594206296931999, -0.1879652258175319, -0.02884225398674956 ] }, { "marker_id": 105, "link": "Board", "error_m": [ -0.0013771188155533576, 0.0020728698609000507, 0.0032204719764331556 ], "error_norm_m": 0.004069973641606313, "predicted_m": [ 0.5250394028542521, -0.26675886427248424, -0.025235877324987416 ], "observed_m": [ 0.5264165216698055, -0.2688317341333843, -0.02845634930142057 ] }, { "marker_id": 205, "link": "Board", "error_m": [ 0.002123522868188177, 0.00355099196488598, -0.012924145855992514 ], "error_norm_m": 0.01357027779425946, "predicted_m": [ 0.7511129380826358, -0.09112677225283562, -0.001424682013906098 ], "observed_m": [ 0.7489894152144476, -0.0946777642177216, 0.011499463842086416 ] }, { "marker_id": 206, "link": "Board", "error_m": [ 0.004407783312130542, 0.0033610498377350875, -0.00958468342380566 ], "error_norm_m": 0.011072098539708296, "predicted_m": [ 0.6514691974154823, -0.010686657607704453, -0.0021408535961513478 ], "observed_m": [ 0.6470614141033517, -0.01404770744543954, 0.007443829827654312 ] }, { "marker_id": 207, "link": "Board", "error_m": [ 0.0045394819520063745, 0.0035746544876030777, -0.015209448083898255 ], "error_norm_m": 0.01626998347003244, "predicted_m": [ 0.7514669567644714, -0.01113673267674881, -0.0026363912979269436 ], "observed_m": [ 0.746927474812465, -0.014711387164351887, 0.012573056785971311 ] }, { "marker_id": 208, "link": "Board", "error_m": [ 0.0014958510198512798, 0.005577486017852337, -0.002283577048813676 ], "error_norm_m": 0.006209721788518147, "predicted_m": [ 0.35112190068667914, -0.08932647197665819, 0.0005574687931962849 ], "observed_m": [ 0.34962604966682787, -0.09490395799451053, 0.002841045842009961 ] }, { "marker_id": 210, "link": "Board", "error_m": [ 0.0029859404973339512, 0.0009089798627957904, -0.0006488778148887697 ], "error_norm_m": 0.0031879660385960833, "predicted_m": [ 0.021439061181621134, -0.01784993961973586, 0.0011324975855375112 ], "observed_m": [ 0.018453120684287182, -0.01875891948253165, 0.0017813754004262809 ] }, { "marker_id": 211, "link": "Board", "error_m": [ 0.0012006611953802038, 0.0023910104886489016, -0.005121018919816317 ], "error_norm_m": 0.005777832919013629, "predicted_m": [ 0.2514781600195256, -0.008886357331527026, -0.00015870278904896488 ], "observed_m": [ 0.2502774988241454, -0.011277367820175927, 0.004962316130767351 ] }, { "marker_id": 214, "link": "Board", "error_m": [ 0.0006537704774116637, 0.005677611115683188, -0.007518377465722685 ], "error_norm_m": 0.009443976044820902, "predicted_m": [ 0.35147591936851474, -0.009336432400571382, -0.0006542404908245607 ], "observed_m": [ 0.3508221488911031, -0.01501404351625457, 0.006864136974898124 ] }, { "marker_id": 215, "link": "Board", "error_m": [ 0.0014944641967270522, 0.0022812277349999743, 0.0004203055332924506 ], "error_norm_m": 0.0027593622371026964, "predicted_m": [ 0.25112414133769, -0.08887639690761384, 0.0010530064949718808 ], "observed_m": [ 0.24962967714096296, -0.09115762464261382, 0.0006327009616794301 ] }, { "marker_id": 217, "link": "Board", "error_m": [ 0.0010178440577507386, 0.003247252910091175, -0.00511619136173409 ], "error_norm_m": 0.006144596979288114, "predicted_m": [ 0.6511151787336467, -0.09067669718379126, -0.0009291443121305022 ], "observed_m": [ 0.6500973346758959, -0.09392395009388244, 0.004187047049603587 ] }, { "marker_id": 242, "link": "Arm1", "error_m": [ -0.011307736236661037, 0.26892788214491414, -0.02825339663277876 ], "error_norm_m": 0.2706442778169083, "predicted_m": [ 0.21703351977024246, 0.208949647958361, 0.29123826201648123 ], "observed_m": [ 0.2283412560069035, -0.05997823418655316, 0.31949165864926 ] }, { "marker_id": 243, "link": "Arm1", "error_m": [ 0.013624106489176474, 0.33671108594076904, -0.05438646127296126 ], "error_norm_m": 0.34134712367740216, "predicted_m": [ 0.2173090072080299, 0.2569768169430436, 0.30320969242327495 ], "observed_m": [ 0.20368490071885342, -0.07973426899772547, 0.3575961536962362 ] } ], "stage_idx": 0, "num_active_links": 3 }, { "method": "deterministic_geometric_prefix", "active_links": [ "Board", "Base", "Arm1", "Ellbow" ], "active_observations": 44, "joint_updates": [ { "pass": 0, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.10313172416134683, "new": 0.10161217017091784, "info": { "reason": "weighted_projection", "used_markers": 4, "axis_world": [ 0.9999775934888914, -0.004500750690439068, -0.004955377017751002 ], "per_marker": [ { "marker_id": 242, "q_i": 0.11550957814977858, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.0907538701729151, "weight": 1.0 }, { "marker_id": 246, "q_i": 0.10007298911323671, "weight": 1.0 }, { "marker_id": 247, "q_i": 0.10011224324774096, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 2.096762593257374, "new": 2.1884393711045202, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 4, "axis_world": [ -0.9999775934888914, 0.004500750690439068, 0.004955377017751002 ], "axis_id": 0, "theta_rad": -0.953153282485273, "theta_alt_rad": 2.1884393711045202, "score_theta": 0.9945311727067739, "score_theta_alt": 0.586705686223138, "best_score": 0.586705686223138, "per_marker": [ { "marker_id": 242, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 }, { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": 0.0, "new": -2.7899290588118277, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 2, "axis_world": [ -0.9999775934888914, 0.004500750690439068, 0.004955377017751002 ], "axis_id": 0, "theta_rad": -2.7899290588118277, "theta_alt_rad": 0.3516635947779654, "score_theta": 0.22230839952601722, "score_theta_alt": 0.46290021674391657, "best_score": 0.22230839952601722, "per_marker": [ { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 } ] } } ] }, { "pass": 1, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.10161217017091784, "new": 0.10161217017106146, "info": { "reason": "weighted_projection", "used_markers": 4, "axis_world": [ 0.9999775934888914, -0.004500750690439068, -0.004955377017751002 ], "per_marker": [ { "marker_id": 242, "q_i": 0.11550957814977858, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.09075387017291509, "weight": 1.0 }, { "marker_id": 246, "q_i": 0.10007298911359955, "weight": 1.0 }, { "marker_id": 247, "q_i": 0.10011224324795258, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 2.1884393711045202, "new": 2.056400223144066, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 4, "axis_world": [ -0.9999775934888914, 0.004500750690439068, 0.004955377017751002 ], "axis_id": 0, "theta_rad": -1.0851924304457272, "theta_alt_rad": 2.056400223144066, "score_theta": 1.1894444190708293, "score_theta_alt": 0.41590464460358534, "best_score": 0.41590464460358534, "per_marker": [ { "marker_id": 242, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 }, { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": -2.7899290588118277, "new": -2.892454712374793, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 2, "axis_world": [ -0.9999775934888914, 0.004500750690439068, 0.004955377017751002 ], "axis_id": 0, "theta_rad": -2.892454712374793, "theta_alt_rad": 0.24913794121500032, "score_theta": 0.19401926635873062, "score_theta_alt": 0.4078057460412389, "best_score": 0.19401926635873062, "per_marker": [ { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 } ] } } ] } ], "root_link": "Board", "root_pose": { "reason": "kabsch", "used_markers": [ 210, 211, 215, 214, 208, 206, 205, 207, 217, 46, 47, 51, 52, 53, 54, 55, 56, 58, 60, 61, 62, 63, 64, 66, 68, 69, 72, 75, 77, 79, 83, 84, 85, 92, 95, 96, 97, 102, 103, 105 ] }, "marker_stats": { "num_markers_used": 44, "mean_error_m": 0.03614656263824695, "rms_error_m": 0.0889790372493416, "median_error_m": 0.0068436973971634125, "worst_error_m": 0.330564882469931 }, "marker_reports": [ { "marker_id": 46, "link": "Board", "error_m": [ -0.012908357952040372, -0.010207876075251116, 0.013985073276577477 ], "error_norm_m": 0.02159649771460478, "predicted_m": [ 0.5389079706189561, 0.18482147401835336, -0.03213615973143038 ], "observed_m": [ 0.5518163285709965, 0.19502935009360448, -0.046121233008007856 ] }, { "marker_id": 47, "link": "Board", "error_m": [ 0.0010498932317613008, 0.0017773294998767453, 0.005477075623620271 ], "error_norm_m": 0.005853164386559265, "predicted_m": [ 0.3443436617058622, -0.2862334574777683, -0.024033566914650726 ], "observed_m": [ 0.3432937684741009, -0.28801078697764504, -0.029510642538270997 ] }, { "marker_id": 51, "link": "Board", "error_m": [ 0.0017812069836050382, -0.0025230722927245264, 0.009849544619266973 ], "error_norm_m": 0.010322408697570956, "predicted_m": [ 0.1684241271154769, -0.1709936409099671, -0.024892942805520867 ], "observed_m": [ 0.16664292013187187, -0.16847056861724258, -0.03474248742478784 ] }, { "marker_id": 52, "link": "Board", "error_m": [ 0.01305464812148073, 0.028814662356838328, -0.032153336918371744 ], "error_norm_m": 0.04510593840394636, "predicted_m": [ 0.09699062889102218, 0.21002804983300935, -0.030297433047958764 ], "observed_m": [ 0.08393598076954145, 0.18121338747617102, 0.0018559038704129825 ] }, { "marker_id": 53, "link": "Board", "error_m": [ 4.1524115299229614e-05, -0.0012827615591776698, -0.0030325351542050474 ], "error_norm_m": 0.0032929425946020894, "predicted_m": [ 0.48856769750987117, 0.21184524515618225, -0.0322920340172614 ], "observed_m": [ 0.48852617339457194, 0.21312800671535992, -0.02925949886305635 ] }, { "marker_id": 54, "link": "Board", "error_m": [ 0.0027467583153943376, -0.0030001436330559517, -0.013548808173682477 ], "error_norm_m": 0.014146227270526909, "predicted_m": [ 0.34218877408593623, -0.3302691515479978, -0.023356656951181946 ], "observed_m": [ 0.3394420157705419, -0.32726900791494185, -0.009807848777499469 ] }, { "marker_id": 55, "link": "Board", "error_m": [ 0.0005006658137158282, 0.0004989649485536707, 0.003841826723756093 ], "error_norm_m": 0.003906310900616511, "predicted_m": [ 0.2839410461189986, -0.2620041002004515, -0.024096623981870555 ], "observed_m": [ 0.2834403803052828, -0.2625030651490052, -0.027938450705626647 ] }, { "marker_id": 56, "link": "Board", "error_m": [ -0.01190849449372866, -0.013896424983166983, 0.02006965740903304 ], "error_norm_m": 0.027160891313355463, "predicted_m": [ 0.5008046115723558, 0.16822472552097373, -0.03169370218478225 ], "observed_m": [ 0.5127131060660844, 0.1821211505041407, -0.05176335959381529 ] }, { "marker_id": 58, "link": "Board", "error_m": [ -0.00015397302462388102, 0.0024949618172493693, 0.0046951907132772135 ], "error_norm_m": 0.0053191501196985114, "predicted_m": [ 0.05051307108672063, -0.21648812656728597, -0.02361245814746732 ], "observed_m": [ 0.05066704411134451, -0.21898308838453534, -0.028307648860744532 ] }, { "marker_id": 60, "link": "Board", "error_m": [ 0.002738275425795633, -0.004390002132968696, -0.0021702321777583855 ], "error_norm_m": 0.005610719984134288, "predicted_m": [ 0.43699557414691786, 0.28363987826526604, -0.033118924922027185 ], "observed_m": [ 0.43425729872112223, 0.28802988039823474, -0.0309486927442688 ] }, { "marker_id": 61, "link": "Board", "error_m": [ -0.008729810989958155, -0.02488936097269756, 0.026906938996231748 ], "error_norm_m": 0.03767855166665209, "predicted_m": [ -0.01954399035953118, 0.3377092543999973, -0.03164332176979118 ], "observed_m": [ -0.010814179369573025, 0.3625986153726949, -0.058550260766022925 ] }, { "marker_id": 62, "link": "Board", "error_m": [ 0.0013449455751512462, 0.0057384518817231445, 0.0025783362342821463 ], "error_norm_m": 0.00643323607028244, "predicted_m": [ 0.4053054548079929, -0.17507949274253046, -0.026021129595555467 ], "observed_m": [ 0.40396050923284166, -0.1808179446242536, -0.028599465829837613 ] }, { "marker_id": 63, "link": "Board", "error_m": [ -0.017218916952065455, 0.007683261787512163, 0.022191846824885876 ], "error_norm_m": 0.029120468371864643, "predicted_m": [ 0.7777269433950996, -0.23779932147636001, -0.026943312962704705 ], "observed_m": [ 0.7949458603471651, -0.24548258326387218, -0.04913515978759058 ] }, { "marker_id": 64, "link": "Board", "error_m": [ -0.0007745268570881099, 0.0010794065666502872, 0.0038781198291383476 ], "error_norm_m": 0.004099368707207805, "predicted_m": [ -0.02071310400705243, -0.18629067321634743, -0.02371141586106204 ], "observed_m": [ -0.01993857714996432, -0.18737007978299772, -0.027589535690200388 ] }, { "marker_id": 66, "link": "Board", "error_m": [ -0.0013877997390944474, -0.0036044874051766596, 0.0010242476523267298 ], "error_norm_m": 0.00399592302518512, "predicted_m": [ 0.20952730377446688, -0.3623086482135437, -0.022205593000908422 ], "observed_m": [ 0.21091510351356133, -0.35870416080836703, -0.02322984065323515 ] }, { "marker_id": 68, "link": "Board", "error_m": [ 0.005485929757955144, -0.0014348902038141542, -0.012081451413012121 ], "error_norm_m": 0.013346003276306813, "predicted_m": [ 0.5758616476738124, 0.1698566989062171, -0.03209544157108385 ], "observed_m": [ 0.5703757179158573, 0.17129158911003126, -0.020013990158071728 ] }, { "marker_id": 69, "link": "Board", "error_m": [ -0.010464061630526619, -0.004823523607819236, -0.034683082209372426 ], "error_norm_m": 0.03654694456920763, "predicted_m": [ 0.007754790679972199, -0.27938907839359434, -0.022446218033981606 ], "observed_m": [ 0.01821885231049882, -0.2745655547857751, 0.012236864175390822 ] }, { "marker_id": 72, "link": "Board", "error_m": [ 0.001534801108487971, -0.006298543811810525, 0.0013568973548418045 ], "error_norm_m": 0.006623325375027959, "predicted_m": [ 0.44322941144378747, 0.19413118026738826, -0.03179633077381709 ], "observed_m": [ 0.4416946103352995, 0.2004297240791988, -0.033153228128658896 ] }, { "marker_id": 75, "link": "Board", "error_m": [ 0.0041405703327046135, -0.0024574201299061293, 0.006523450247215179 ], "error_norm_m": 0.008107936821586195, "predicted_m": [ -0.023448981101294022, 0.19649160323573367, -0.02948764392857363 ], "observed_m": [ -0.027589551433998636, 0.1989490233656398, -0.03601109417578881 ] }, { "marker_id": 77, "link": "Board", "error_m": [ 0.004270521640567546, -0.0010700376682142854, 0.005579068628516835 ], "error_norm_m": 0.00710692215066789, "predicted_m": [ 0.020426715524073248, 0.19328444004887982, -0.029659544864071657 ], "observed_m": [ 0.016156193883505702, 0.1943544777170941, -0.03523861349258849 ] }, { "marker_id": 79, "link": "Board", "error_m": [ 0.002931254485037893, 0.0025320231883179944, 0.0029217590403681735 ], "error_norm_m": 0.004851811019836607, "predicted_m": [ 0.31297828465355887, -0.15867561421846313, -0.025805443152258484 ], "observed_m": [ 0.310047030168521, -0.16120763740678112, -0.028727202192626658 ] }, { "marker_id": 83, "link": "Board", "error_m": [ 0.004416573031188281, 0.0022472712894280322, -0.005247746703131745 ], "error_norm_m": 0.007217699844710729, "predicted_m": [ 0.047049519356668575, 0.34079917234606427, -0.03202459695254375 ], "observed_m": [ 0.04263294632548029, 0.33855190105663624, -0.026776850249412003 ] }, { "marker_id": 84, "link": "Board", "error_m": [ 0.0034965065337434487, -0.0052207668163380405, -0.0014007317484231105 ], "error_norm_m": 0.006437702503387954, "predicted_m": [ 0.4100138195306969, 0.25837397462585776, -0.03260120770754397 ], "observed_m": [ 0.40651731299695343, 0.2635947414421958, -0.031200475959120857 ] }, { "marker_id": 85, "link": "Board", "error_m": [ -0.000158309018039815, 0.0015219089989804147, 0.0043452100564496735 ], "error_norm_m": 0.004606747136650944, "predicted_m": [ 0.5045740834513299, -0.3131618895670964, -0.024431175365270563 ], "observed_m": [ 0.5047323924693697, -0.3146837985660768, -0.028776385421720237 ] }, { "marker_id": 92, "link": "Board", "error_m": [ -0.00212962694819796, 0.0018920028557388169, -0.00020486768449404572 ], "error_norm_m": 0.0028560386049149874, "predicted_m": [ 0.6456469667325145, -0.18590021551939476, -0.027064827071524283 ], "observed_m": [ 0.6477765936807125, -0.18779221837513357, -0.026859959387030237 ] }, { "marker_id": 95, "link": "Board", "error_m": [ -0.00023614883342362725, -0.0032603744778859634, 0.0025756886423556474 ], "error_norm_m": 0.004161728005280666, "predicted_m": [ 0.18621238885372735, -0.2730530363071244, -0.023438551008858662 ], "observed_m": [ 0.18644853768715097, -0.26979266182923844, -0.02601423965121431 ] }, { "marker_id": 96, "link": "Board", "error_m": [ 0.002421877949804585, 0.0014184365837894009, 0.004337564752345511 ], "error_norm_m": 0.005166422662420486, "predicted_m": [ 0.37032583405756464, -0.18631086340555864, -0.025675521167012782 ], "observed_m": [ 0.36790395610776006, -0.18772929998934804, -0.030013085919358293 ] }, { "marker_id": 97, "link": "Board", "error_m": [ -0.0011327202459437413, -0.004886750791674721, 0.006727836164899831 ], "error_norm_m": 0.00839208960374223, "predicted_m": [ 0.3041409379499523, -0.3591748624677238, -0.02272829272992706 ], "observed_m": [ 0.305273658195896, -0.35428811167604907, -0.02945612889482689 ] }, { "marker_id": 102, "link": "Board", "error_m": [ -0.0036196954645962842, 0.0012816379700715252, 0.005929273616382149 ], "error_norm_m": 0.0070640694192988665, "predicted_m": [ 0.6500779967513324, -0.2240761678503642, -0.026509636477328017 ], "observed_m": [ 0.6536976922159287, -0.2253578058204357, -0.032438910093710166 ] }, { "marker_id": 103, "link": "Board", "error_m": [ 0.0003242889664059334, 0.001622982535756462, 0.004493728241626731 ], "error_norm_m": 0.004788823358059554, "predicted_m": [ 0.10626635193572592, -0.18634224328177543, -0.024348525745122827 ], "observed_m": [ 0.10594206296931999, -0.1879652258175319, -0.02884225398674956 ] }, { "marker_id": 105, "link": "Board", "error_m": [ -0.0013771188155533576, 0.0020728698609000507, 0.0032204719764331556 ], "error_norm_m": 0.004069973641606313, "predicted_m": [ 0.5250394028542521, -0.26675886427248424, -0.025235877324987416 ], "observed_m": [ 0.5264165216698055, -0.2688317341333843, -0.02845634930142057 ] }, { "marker_id": 205, "link": "Board", "error_m": [ 0.002123522868188177, 0.00355099196488598, -0.012924145855992514 ], "error_norm_m": 0.01357027779425946, "predicted_m": [ 0.7511129380826358, -0.09112677225283562, -0.001424682013906098 ], "observed_m": [ 0.7489894152144476, -0.0946777642177216, 0.011499463842086416 ] }, { "marker_id": 206, "link": "Board", "error_m": [ 0.004407783312130542, 0.0033610498377350875, -0.00958468342380566 ], "error_norm_m": 0.011072098539708296, "predicted_m": [ 0.6514691974154823, -0.010686657607704453, -0.0021408535961513478 ], "observed_m": [ 0.6470614141033517, -0.01404770744543954, 0.007443829827654312 ] }, { "marker_id": 207, "link": "Board", "error_m": [ 0.0045394819520063745, 0.0035746544876030777, -0.015209448083898255 ], "error_norm_m": 0.01626998347003244, "predicted_m": [ 0.7514669567644714, -0.01113673267674881, -0.0026363912979269436 ], "observed_m": [ 0.746927474812465, -0.014711387164351887, 0.012573056785971311 ] }, { "marker_id": 208, "link": "Board", "error_m": [ 0.0014958510198512798, 0.005577486017852337, -0.002283577048813676 ], "error_norm_m": 0.006209721788518147, "predicted_m": [ 0.35112190068667914, -0.08932647197665819, 0.0005574687931962849 ], "observed_m": [ 0.34962604966682787, -0.09490395799451053, 0.002841045842009961 ] }, { "marker_id": 210, "link": "Board", "error_m": [ 0.0029859404973339512, 0.0009089798627957904, -0.0006488778148887697 ], "error_norm_m": 0.0031879660385960833, "predicted_m": [ 0.021439061181621134, -0.01784993961973586, 0.0011324975855375112 ], "observed_m": [ 0.018453120684287182, -0.01875891948253165, 0.0017813754004262809 ] }, { "marker_id": 211, "link": "Board", "error_m": [ 0.0012006611953802038, 0.0023910104886489016, -0.005121018919816317 ], "error_norm_m": 0.005777832919013629, "predicted_m": [ 0.2514781600195256, -0.008886357331527026, -0.00015870278904896488 ], "observed_m": [ 0.2502774988241454, -0.011277367820175927, 0.004962316130767351 ] }, { "marker_id": 214, "link": "Board", "error_m": [ 0.0006537704774116637, 0.005677611115683188, -0.007518377465722685 ], "error_norm_m": 0.009443976044820902, "predicted_m": [ 0.35147591936851474, -0.009336432400571382, -0.0006542404908245607 ], "observed_m": [ 0.3508221488911031, -0.01501404351625457, 0.006864136974898124 ] }, { "marker_id": 215, "link": "Board", "error_m": [ 0.0014944641967270522, 0.0022812277349999743, 0.0004203055332924506 ], "error_norm_m": 0.0027593622371026964, "predicted_m": [ 0.25112414133769, -0.08887639690761384, 0.0010530064949718808 ], "observed_m": [ 0.24962967714096296, -0.09115762464261382, 0.0006327009616794301 ] }, { "marker_id": 217, "link": "Board", "error_m": [ 0.0010178440577507386, 0.003247252910091175, -0.00511619136173409 ], "error_norm_m": 0.006144596979288114, "predicted_m": [ 0.6511151787336467, -0.09067669718379126, -0.0009291443121305022 ], "observed_m": [ 0.6500973346758959, -0.09392395009388244, 0.004187047049603587 ] }, { "marker_id": 242, "link": "Arm1", "error_m": [ -0.012850996848565804, 0.2594801655460293, -0.02444949343801117 ], "error_norm_m": 0.2609461288487951, "predicted_m": [ 0.2154902591583377, 0.19950193135947614, 0.2950421652112488 ], "observed_m": [ 0.2283412560069035, -0.05997823418655316, 0.31949165864926 ] }, { "marker_id": 243, "link": "Arm1", "error_m": [ 0.01208805069802879, 0.3267411452397805, -0.04865433752583481 ], "error_norm_m": 0.330564882469931, "predicted_m": [ 0.2157729514168822, 0.24700687624205503, 0.3089418161704014 ], "observed_m": [ 0.20368490071885342, -0.07973426899772547, 0.3575961536962362 ] }, { "marker_id": 246, "link": "Ellbow", "error_m": [ 0.0025316754640963834, 0.27968205207623226, -0.05374798067290365 ], "error_norm_m": 0.2848109988407095, "predicted_m": [ 0.30554609902720575, 0.20418767463792598, 0.30164765052287945 ], "observed_m": [ 0.30301442356310937, -0.07549437743830627, 0.3553956311957831 ] }, { "marker_id": 247, "link": "Ellbow", "error_m": [ 0.0024822641539412604, 0.27925065228379575, -0.055405663976876574 ], "error_norm_m": 0.2847048928925773, "predicted_m": [ 0.2680469392715925, 0.20435645278881645, 0.30183347716104403 ], "observed_m": [ 0.26556467511765125, -0.07489419949497929, 0.3572391411379206 ] } ], "stage_idx": 1, "num_active_links": 4 }, { "method": "deterministic_geometric_prefix", "active_links": [ "Board", "Base", "Arm1", "Ellbow", "Arm2" ], "active_observations": 47, "joint_updates": [ { "pass": 0, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.10161217017106146, "new": 0.10479496292342079, "info": { "reason": "weighted_projection", "used_markers": 7, "axis_world": [ 0.9999775934888914, -0.004500750690439068, -0.004955377017751002 ], "per_marker": [ { "marker_id": 242, "q_i": 0.11550957814977857, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.09075387017291509, "weight": 1.0 }, { "marker_id": 246, "q_i": 0.1000729891135848, "weight": 1.0 }, { "marker_id": 247, "q_i": 0.10011224324794396, "weight": 1.0 }, { "marker_id": 218, "q_i": 0.11110850970380752, "weight": 1.0 }, { "marker_id": 113, "q_i": 0.10261639638838083, "weight": 1.0 }, { "marker_id": 219, "q_i": 0.11339115368753475, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 2.056400223144066, "new": 2.0632981155856047, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 7, "axis_world": [ -0.9999775934888914, 0.004500750690439068, 0.004955377017751002 ], "axis_id": 0, "theta_rad": -1.0782945380041882, "theta_alt_rad": 2.0632981155856047, "score_theta": 1.5847231373576895, "score_theta_alt": 0.6260049590203651, "best_score": 0.6260049590203651, "per_marker": [ { "marker_id": 242, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 }, { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 113, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": -2.892454712374793, "new": 2.4610614063925897, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 5, "axis_world": [ -0.9999775934888914, 0.004500750690439068, 0.004955377017751002 ], "axis_id": 0, "theta_rad": 2.46106140639259, "theta_alt_rad": -0.6805312471972034, "score_theta": 0.7973250612430984, "score_theta_alt": 0.9460337292842431, "best_score": 0.7973250612430984, "per_marker": [ { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 113, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } }, { "link": "Arm2", "joint_variable": "a", "joint_type": "revolute", "old": 0.0, "new": 2.070072897714951, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 3, "axis_world": [ -0.004107218408943283, 0.17204264848419182, -0.985080939749362 ], "axis_id": 2, "theta_rad": -1.0715197558748424, "theta_alt_rad": 2.070072897714951, "score_theta": 0.6355219085313033, "score_theta_alt": 0.5596611812343568, "best_score": 0.5596611812343568, "per_marker": [ { "marker_id": 218, "weight": 1.0 }, { "marker_id": 113, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } } ] }, { "pass": 1, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.10479496292342079, "new": 0.1233454219218383, "info": { "reason": "weighted_projection", "used_markers": 7, "axis_world": [ 0.9999775934888914, -0.004500750690439068, -0.004955377017751002 ], "per_marker": [ { "marker_id": 242, "q_i": 0.11550957814977858, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.09075387017291509, "weight": 1.0 }, { "marker_id": 246, "q_i": 0.10007298911355136, "weight": 1.0 }, { "marker_id": 247, "q_i": 0.10011224324792448, "weight": 1.0 }, { "marker_id": 218, "q_i": 0.16286617875949636, "weight": 1.0 }, { "marker_id": 113, "q_i": 0.1289542712659786, "weight": 1.0 }, { "marker_id": 219, "q_i": 0.16514882274322365, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 2.0632981155856047, "new": -0.7659818573540562, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 7, "axis_world": [ -0.9999775934888914, 0.004500750690439068, 0.004955377017751002 ], "axis_id": 0, "theta_rad": -0.7659818573540563, "theta_alt_rad": 2.375610796235737, "score_theta": 1.0452520474773592, "score_theta_alt": 1.1781142683982038, "best_score": 1.0452520474773592, "per_marker": [ { "marker_id": 242, "weight": 1.0 }, { "marker_id": 243, "weight": 1.0 }, { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 113, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": 2.4610614063925897, "new": 1.3783860329557154, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 5, "axis_world": [ -0.9999775934888915, 0.004500750690439068, 0.004955377017751002 ], "axis_id": 0, "theta_rad": -1.7632066206340777, "theta_alt_rad": 1.3783860329557154, "score_theta": 1.347222387000056, "score_theta_alt": 0.5417624732573363, "best_score": 0.5417624732573363, "per_marker": [ { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 218, "weight": 1.0 }, { "marker_id": 113, "weight": 1.0 }, { "marker_id": 219, "weight": 1.0 } ] } }, { "link": "Arm2", "joint_variable": "a", "joint_type": "revolute", "old": 2.070072897714951, "new": 2.003495699359215, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 3, "axis_world": [ -0.0007336657128732422, -0.8094726159107342, 0.5871571730152454 ], "axis_id": 1, "theta_rad": -1.1380969542305777, "theta_alt_rad": 2.003495699359215, "score_theta": 0.20582647835344767, "score_theta_alt": 0.19843121601978225, "best_score": 0.19843121601978225, "per_marker": [ { "marker_id": 218, "weight": 1.0 }, { "marker_id": 113, "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, 52, 53, 54, 55, 56, 58, 60, 61, 62, 63, 64, 66, 68, 69, 72, 75, 77, 79, 83, 84, 85, 92, 95, 96, 97, 102, 103, 105 ] }, "marker_stats": { "num_markers_used": 47, "mean_error_m": 0.06097964085363013, "rms_error_m": 0.1446268119849034, "median_error_m": 0.00710692215066789, "worst_error_m": 0.4944690219643823 }, "marker_reports": [ { "marker_id": 46, "link": "Board", "error_m": [ -0.012908357952040372, -0.010207876075251116, 0.013985073276577477 ], "error_norm_m": 0.02159649771460478, "predicted_m": [ 0.5389079706189561, 0.18482147401835336, -0.03213615973143038 ], "observed_m": [ 0.5518163285709965, 0.19502935009360448, -0.046121233008007856 ] }, { "marker_id": 47, "link": "Board", "error_m": [ 0.0010498932317613008, 0.0017773294998767453, 0.005477075623620271 ], "error_norm_m": 0.005853164386559265, "predicted_m": [ 0.3443436617058622, -0.2862334574777683, -0.024033566914650726 ], "observed_m": [ 0.3432937684741009, -0.28801078697764504, -0.029510642538270997 ] }, { "marker_id": 51, "link": "Board", "error_m": [ 0.0017812069836050382, -0.0025230722927245264, 0.009849544619266973 ], "error_norm_m": 0.010322408697570956, "predicted_m": [ 0.1684241271154769, -0.1709936409099671, -0.024892942805520867 ], "observed_m": [ 0.16664292013187187, -0.16847056861724258, -0.03474248742478784 ] }, { "marker_id": 52, "link": "Board", "error_m": [ 0.01305464812148073, 0.028814662356838328, -0.032153336918371744 ], "error_norm_m": 0.04510593840394636, "predicted_m": [ 0.09699062889102218, 0.21002804983300935, -0.030297433047958764 ], "observed_m": [ 0.08393598076954145, 0.18121338747617102, 0.0018559038704129825 ] }, { "marker_id": 53, "link": "Board", "error_m": [ 4.1524115299229614e-05, -0.0012827615591776698, -0.0030325351542050474 ], "error_norm_m": 0.0032929425946020894, "predicted_m": [ 0.48856769750987117, 0.21184524515618225, -0.0322920340172614 ], "observed_m": [ 0.48852617339457194, 0.21312800671535992, -0.02925949886305635 ] }, { "marker_id": 54, "link": "Board", "error_m": [ 0.0027467583153943376, -0.0030001436330559517, -0.013548808173682477 ], "error_norm_m": 0.014146227270526909, "predicted_m": [ 0.34218877408593623, -0.3302691515479978, -0.023356656951181946 ], "observed_m": [ 0.3394420157705419, -0.32726900791494185, -0.009807848777499469 ] }, { "marker_id": 55, "link": "Board", "error_m": [ 0.0005006658137158282, 0.0004989649485536707, 0.003841826723756093 ], "error_norm_m": 0.003906310900616511, "predicted_m": [ 0.2839410461189986, -0.2620041002004515, -0.024096623981870555 ], "observed_m": [ 0.2834403803052828, -0.2625030651490052, -0.027938450705626647 ] }, { "marker_id": 56, "link": "Board", "error_m": [ -0.01190849449372866, -0.013896424983166983, 0.02006965740903304 ], "error_norm_m": 0.027160891313355463, "predicted_m": [ 0.5008046115723558, 0.16822472552097373, -0.03169370218478225 ], "observed_m": [ 0.5127131060660844, 0.1821211505041407, -0.05176335959381529 ] }, { "marker_id": 58, "link": "Board", "error_m": [ -0.00015397302462388102, 0.0024949618172493693, 0.0046951907132772135 ], "error_norm_m": 0.0053191501196985114, "predicted_m": [ 0.05051307108672063, -0.21648812656728597, -0.02361245814746732 ], "observed_m": [ 0.05066704411134451, -0.21898308838453534, -0.028307648860744532 ] }, { "marker_id": 60, "link": "Board", "error_m": [ 0.002738275425795633, -0.004390002132968696, -0.0021702321777583855 ], "error_norm_m": 0.005610719984134288, "predicted_m": [ 0.43699557414691786, 0.28363987826526604, -0.033118924922027185 ], "observed_m": [ 0.43425729872112223, 0.28802988039823474, -0.0309486927442688 ] }, { "marker_id": 61, "link": "Board", "error_m": [ -0.008729810989958155, -0.02488936097269756, 0.026906938996231748 ], "error_norm_m": 0.03767855166665209, "predicted_m": [ -0.01954399035953118, 0.3377092543999973, -0.03164332176979118 ], "observed_m": [ -0.010814179369573025, 0.3625986153726949, -0.058550260766022925 ] }, { "marker_id": 62, "link": "Board", "error_m": [ 0.0013449455751512462, 0.0057384518817231445, 0.0025783362342821463 ], "error_norm_m": 0.00643323607028244, "predicted_m": [ 0.4053054548079929, -0.17507949274253046, -0.026021129595555467 ], "observed_m": [ 0.40396050923284166, -0.1808179446242536, -0.028599465829837613 ] }, { "marker_id": 63, "link": "Board", "error_m": [ -0.017218916952065455, 0.007683261787512163, 0.022191846824885876 ], "error_norm_m": 0.029120468371864643, "predicted_m": [ 0.7777269433950996, -0.23779932147636001, -0.026943312962704705 ], "observed_m": [ 0.7949458603471651, -0.24548258326387218, -0.04913515978759058 ] }, { "marker_id": 64, "link": "Board", "error_m": [ -0.0007745268570881099, 0.0010794065666502872, 0.0038781198291383476 ], "error_norm_m": 0.004099368707207805, "predicted_m": [ -0.02071310400705243, -0.18629067321634743, -0.02371141586106204 ], "observed_m": [ -0.01993857714996432, -0.18737007978299772, -0.027589535690200388 ] }, { "marker_id": 66, "link": "Board", "error_m": [ -0.0013877997390944474, -0.0036044874051766596, 0.0010242476523267298 ], "error_norm_m": 0.00399592302518512, "predicted_m": [ 0.20952730377446688, -0.3623086482135437, -0.022205593000908422 ], "observed_m": [ 0.21091510351356133, -0.35870416080836703, -0.02322984065323515 ] }, { "marker_id": 68, "link": "Board", "error_m": [ 0.005485929757955144, -0.0014348902038141542, -0.012081451413012121 ], "error_norm_m": 0.013346003276306813, "predicted_m": [ 0.5758616476738124, 0.1698566989062171, -0.03209544157108385 ], "observed_m": [ 0.5703757179158573, 0.17129158911003126, -0.020013990158071728 ] }, { "marker_id": 69, "link": "Board", "error_m": [ -0.010464061630526619, -0.004823523607819236, -0.034683082209372426 ], "error_norm_m": 0.03654694456920763, "predicted_m": [ 0.007754790679972199, -0.27938907839359434, -0.022446218033981606 ], "observed_m": [ 0.01821885231049882, -0.2745655547857751, 0.012236864175390822 ] }, { "marker_id": 72, "link": "Board", "error_m": [ 0.001534801108487971, -0.006298543811810525, 0.0013568973548418045 ], "error_norm_m": 0.006623325375027959, "predicted_m": [ 0.44322941144378747, 0.19413118026738826, -0.03179633077381709 ], "observed_m": [ 0.4416946103352995, 0.2004297240791988, -0.033153228128658896 ] }, { "marker_id": 75, "link": "Board", "error_m": [ 0.0041405703327046135, -0.0024574201299061293, 0.006523450247215179 ], "error_norm_m": 0.008107936821586195, "predicted_m": [ -0.023448981101294022, 0.19649160323573367, -0.02948764392857363 ], "observed_m": [ -0.027589551433998636, 0.1989490233656398, -0.03601109417578881 ] }, { "marker_id": 77, "link": "Board", "error_m": [ 0.004270521640567546, -0.0010700376682142854, 0.005579068628516835 ], "error_norm_m": 0.00710692215066789, "predicted_m": [ 0.020426715524073248, 0.19328444004887982, -0.029659544864071657 ], "observed_m": [ 0.016156193883505702, 0.1943544777170941, -0.03523861349258849 ] }, { "marker_id": 79, "link": "Board", "error_m": [ 0.002931254485037893, 0.0025320231883179944, 0.0029217590403681735 ], "error_norm_m": 0.004851811019836607, "predicted_m": [ 0.31297828465355887, -0.15867561421846313, -0.025805443152258484 ], "observed_m": [ 0.310047030168521, -0.16120763740678112, -0.028727202192626658 ] }, { "marker_id": 83, "link": "Board", "error_m": [ 0.004416573031188281, 0.0022472712894280322, -0.005247746703131745 ], "error_norm_m": 0.007217699844710729, "predicted_m": [ 0.047049519356668575, 0.34079917234606427, -0.03202459695254375 ], "observed_m": [ 0.04263294632548029, 0.33855190105663624, -0.026776850249412003 ] }, { "marker_id": 84, "link": "Board", "error_m": [ 0.0034965065337434487, -0.0052207668163380405, -0.0014007317484231105 ], "error_norm_m": 0.006437702503387954, "predicted_m": [ 0.4100138195306969, 0.25837397462585776, -0.03260120770754397 ], "observed_m": [ 0.40651731299695343, 0.2635947414421958, -0.031200475959120857 ] }, { "marker_id": 85, "link": "Board", "error_m": [ -0.000158309018039815, 0.0015219089989804147, 0.0043452100564496735 ], "error_norm_m": 0.004606747136650944, "predicted_m": [ 0.5045740834513299, -0.3131618895670964, -0.024431175365270563 ], "observed_m": [ 0.5047323924693697, -0.3146837985660768, -0.028776385421720237 ] }, { "marker_id": 92, "link": "Board", "error_m": [ -0.00212962694819796, 0.0018920028557388169, -0.00020486768449404572 ], "error_norm_m": 0.0028560386049149874, "predicted_m": [ 0.6456469667325145, -0.18590021551939476, -0.027064827071524283 ], "observed_m": [ 0.6477765936807125, -0.18779221837513357, -0.026859959387030237 ] }, { "marker_id": 95, "link": "Board", "error_m": [ -0.00023614883342362725, -0.0032603744778859634, 0.0025756886423556474 ], "error_norm_m": 0.004161728005280666, "predicted_m": [ 0.18621238885372735, -0.2730530363071244, -0.023438551008858662 ], "observed_m": [ 0.18644853768715097, -0.26979266182923844, -0.02601423965121431 ] }, { "marker_id": 96, "link": "Board", "error_m": [ 0.002421877949804585, 0.0014184365837894009, 0.004337564752345511 ], "error_norm_m": 0.005166422662420486, "predicted_m": [ 0.37032583405756464, -0.18631086340555864, -0.025675521167012782 ], "observed_m": [ 0.36790395610776006, -0.18772929998934804, -0.030013085919358293 ] }, { "marker_id": 97, "link": "Board", "error_m": [ -0.0011327202459437413, -0.004886750791674721, 0.006727836164899831 ], "error_norm_m": 0.00839208960374223, "predicted_m": [ 0.3041409379499523, -0.3591748624677238, -0.02272829272992706 ], "observed_m": [ 0.305273658195896, -0.35428811167604907, -0.02945612889482689 ] }, { "marker_id": 102, "link": "Board", "error_m": [ -0.0036196954645962842, 0.0012816379700715252, 0.005929273616382149 ], "error_norm_m": 0.0070640694192988665, "predicted_m": [ 0.6500779967513324, -0.2240761678503642, -0.026509636477328017 ], "observed_m": [ 0.6536976922159287, -0.2253578058204357, -0.032438910093710166 ] }, { "marker_id": 103, "link": "Board", "error_m": [ 0.0003242889664059334, 0.001622982535756462, 0.004493728241626731 ], "error_norm_m": 0.004788823358059554, "predicted_m": [ 0.10626635193572592, -0.18634224328177543, -0.024348525745122827 ], "observed_m": [ 0.10594206296931999, -0.1879652258175319, -0.02884225398674956 ] }, { "marker_id": 105, "link": "Board", "error_m": [ -0.0013771188155533576, 0.0020728698609000507, 0.0032204719764331556 ], "error_norm_m": 0.004069973641606313, "predicted_m": [ 0.5250394028542521, -0.26675886427248424, -0.025235877324987416 ], "observed_m": [ 0.5264165216698055, -0.2688317341333843, -0.02845634930142057 ] }, { "marker_id": 113, "link": "Arm2", "error_m": [ -0.007820987587700945, -0.0642540540822201, -0.20695335684311733 ], "error_norm_m": 0.21683967169658436, "predicted_m": [ 0.2965294237285723, -0.2276748585240017, -0.015362523245006048 ], "observed_m": [ 0.3043504113162732, -0.16342080444178161, 0.19159083359811127 ] }, { "marker_id": 205, "link": "Board", "error_m": [ 0.002123522868188177, 0.00355099196488598, -0.012924145855992514 ], "error_norm_m": 0.01357027779425946, "predicted_m": [ 0.7511129380826358, -0.09112677225283562, -0.001424682013906098 ], "observed_m": [ 0.7489894152144476, -0.0946777642177216, 0.011499463842086416 ] }, { "marker_id": 206, "link": "Board", "error_m": [ 0.004407783312130542, 0.0033610498377350875, -0.00958468342380566 ], "error_norm_m": 0.011072098539708296, "predicted_m": [ 0.6514691974154823, -0.010686657607704453, -0.0021408535961513478 ], "observed_m": [ 0.6470614141033517, -0.01404770744543954, 0.007443829827654312 ] }, { "marker_id": 207, "link": "Board", "error_m": [ 0.0045394819520063745, 0.0035746544876030777, -0.015209448083898255 ], "error_norm_m": 0.01626998347003244, "predicted_m": [ 0.7514669567644714, -0.01113673267674881, -0.0026363912979269436 ], "observed_m": [ 0.746927474812465, -0.014711387164351887, 0.012573056785971311 ] }, { "marker_id": 208, "link": "Board", "error_m": [ 0.0014958510198512798, 0.005577486017852337, -0.002283577048813676 ], "error_norm_m": 0.006209721788518147, "predicted_m": [ 0.35112190068667914, -0.08932647197665819, 0.0005574687931962849 ], "observed_m": [ 0.34962604966682787, -0.09490395799451053, 0.002841045842009961 ] }, { "marker_id": 210, "link": "Board", "error_m": [ 0.0029859404973339512, 0.0009089798627957904, -0.0006488778148887697 ], "error_norm_m": 0.0031879660385960833, "predicted_m": [ 0.021439061181621134, -0.01784993961973586, 0.0011324975855375112 ], "observed_m": [ 0.018453120684287182, -0.01875891948253165, 0.0017813754004262809 ] }, { "marker_id": 211, "link": "Board", "error_m": [ 0.0012006611953802038, 0.0023910104886489016, -0.005121018919816317 ], "error_norm_m": 0.005777832919013629, "predicted_m": [ 0.2514781600195256, -0.008886357331527026, -0.00015870278904896488 ], "observed_m": [ 0.2502774988241454, -0.011277367820175927, 0.004962316130767351 ] }, { "marker_id": 214, "link": "Board", "error_m": [ 0.0006537704774116637, 0.005677611115683188, -0.007518377465722685 ], "error_norm_m": 0.009443976044820902, "predicted_m": [ 0.35147591936851474, -0.009336432400571382, -0.0006542404908245607 ], "observed_m": [ 0.3508221488911031, -0.01501404351625457, 0.006864136974898124 ] }, { "marker_id": 215, "link": "Board", "error_m": [ 0.0014944641967270522, 0.0022812277349999743, 0.0004203055332924506 ], "error_norm_m": 0.0027593622371026964, "predicted_m": [ 0.25112414133769, -0.08887639690761384, 0.0010530064949718808 ], "observed_m": [ 0.24962967714096296, -0.09115762464261382, 0.0006327009616794301 ] }, { "marker_id": 217, "link": "Board", "error_m": [ 0.0010178440577507386, 0.003247252910091175, -0.00511619136173409 ], "error_norm_m": 0.006144596979288114, "predicted_m": [ 0.6511151787336467, -0.09067669718379126, -0.0009291443121305022 ], "observed_m": [ 0.6500973346758959, -0.09392395009388244, 0.004187047049603587 ] }, { "marker_id": 218, "link": "Arm2", "error_m": [ -0.038837167845686194, -0.023716587825385688, -0.260356634765897 ], "error_norm_m": 0.2643035743439273, "predicted_m": [ 0.3094344378556557, -0.14502628219801006, -0.020623078502264955 ], "observed_m": [ 0.3482716057013419, -0.12130969437262437, 0.23973355626363202 ] }, { "marker_id": 219, "link": "Arm2", "error_m": [ -0.04046651582713162, -0.053310895989553464, -0.10163427915685158 ], "error_norm_m": 0.12169271643828697, "predicted_m": [ 0.3093559356243786, -0.23163985210017432, 0.042202739010160084 ], "observed_m": [ 0.3498224514515102, -0.17832895611062086, 0.14383701816701167 ] }, { "marker_id": 242, "link": "Arm1", "error_m": [ 0.005622590296749441, 0.011174977136848271, -0.4568119107085094 ], "error_norm_m": 0.45698316752459645, "predicted_m": [ 0.23396384630365294, -0.04880325704970489, -0.13732025205924941 ], "observed_m": [ 0.2283412560069035, -0.05997823418655316, 0.31949165864926 ] }, { "marker_id": 243, "link": "Arm1", "error_m": [ 0.030064776011505118, -0.01853643716873378, -0.4932059645045672 ], "error_norm_m": 0.4944690219643823, "predicted_m": [ 0.23374967673035854, -0.09827070616645925, -0.13560981080833104 ], "observed_m": [ 0.20368490071885342, -0.07973426899772547, 0.3575961536962362 ] }, { "marker_id": 246, "link": "Ellbow", "error_m": [ 0.021199621584574446, 0.022956912430401495, -0.4392419719197981 ], "error_norm_m": 0.44035207922713265, "predicted_m": [ 0.3242140451476838, -0.05253746500790477, -0.08384634072401498 ], "observed_m": [ 0.30301442356310937, -0.07549437743830627, 0.3553956311957831 ] }, { "marker_id": 247, "link": "Ellbow", "error_m": [ 0.021150210274243242, 0.022525512637965782, -0.44089965522377017 ], "error_norm_m": 0.4419810358948529, "predicted_m": [ 0.2867148853918945, -0.052368686857013506, -0.08366051408584954 ], "observed_m": [ 0.26556467511765125, -0.07489419949497929, 0.3572391411379206 ] } ], "stage_idx": 2, "num_active_links": 5 } ], "markers": [ { "marker_id": 40, "link": "FingerA", "observed_position_m": [ 0.3059738232371299, -0.19852164065886133, 0.037977026884066324 ], "predicted_position_m": [ 0.3327134689324013, -0.3105156002541038, 0.08677236982363386 ], "error_m": [ 0.026739645695271375, -0.11199395959524247, 0.04879534293956753 ], "error_norm_m": 0.12505455261732557 }, { "marker_id": 46, "link": "Board", "observed_position_m": [ 0.5518163285709965, 0.19502935009360448, -0.046121233008007856 ], "predicted_position_m": [ 0.5389079706189561, 0.18482147401835336, -0.03213615973143038 ], "error_m": [ -0.012908357952040372, -0.010207876075251116, 0.013985073276577477 ], "error_norm_m": 0.02159649771460478 }, { "marker_id": 47, "link": "Board", "observed_position_m": [ 0.3432937684741009, -0.28801078697764504, -0.029510642538270997 ], "predicted_position_m": [ 0.3443436617058622, -0.2862334574777683, -0.024033566914650726 ], "error_m": [ 0.0010498932317613008, 0.0017773294998767453, 0.005477075623620271 ], "error_norm_m": 0.005853164386559265 }, { "marker_id": 51, "link": "Board", "observed_position_m": [ 0.16664292013187187, -0.16847056861724258, -0.03474248742478784 ], "predicted_position_m": [ 0.1684241271154769, -0.1709936409099671, -0.024892942805520867 ], "error_m": [ 0.0017812069836050382, -0.0025230722927245264, 0.009849544619266973 ], "error_norm_m": 0.010322408697570956 }, { "marker_id": 52, "link": "Board", "observed_position_m": [ 0.08393598076954145, 0.18121338747617102, 0.0018559038704129825 ], "predicted_position_m": [ 0.09699062889102218, 0.21002804983300935, -0.030297433047958764 ], "error_m": [ 0.01305464812148073, 0.028814662356838328, -0.032153336918371744 ], "error_norm_m": 0.04510593840394636 }, { "marker_id": 53, "link": "Board", "observed_position_m": [ 0.48852617339457194, 0.21312800671535992, -0.02925949886305635 ], "predicted_position_m": [ 0.48856769750987117, 0.21184524515618225, -0.0322920340172614 ], "error_m": [ 4.1524115299229614e-05, -0.0012827615591776698, -0.0030325351542050474 ], "error_norm_m": 0.0032929425946020894 }, { "marker_id": 54, "link": "Board", "observed_position_m": [ 0.3394420157705419, -0.32726900791494185, -0.009807848777499469 ], "predicted_position_m": [ 0.34218877408593623, -0.3302691515479978, -0.023356656951181946 ], "error_m": [ 0.0027467583153943376, -0.0030001436330559517, -0.013548808173682477 ], "error_norm_m": 0.014146227270526909 }, { "marker_id": 55, "link": "Board", "observed_position_m": [ 0.2834403803052828, -0.2625030651490052, -0.027938450705626647 ], "predicted_position_m": [ 0.2839410461189986, -0.2620041002004515, -0.024096623981870555 ], "error_m": [ 0.0005006658137158282, 0.0004989649485536707, 0.003841826723756093 ], "error_norm_m": 0.003906310900616511 }, { "marker_id": 56, "link": "Board", "observed_position_m": [ 0.5127131060660844, 0.1821211505041407, -0.05176335959381529 ], "predicted_position_m": [ 0.5008046115723558, 0.16822472552097373, -0.03169370218478225 ], "error_m": [ -0.01190849449372866, -0.013896424983166983, 0.02006965740903304 ], "error_norm_m": 0.027160891313355463 }, { "marker_id": 58, "link": "Board", "observed_position_m": [ 0.05066704411134451, -0.21898308838453534, -0.028307648860744532 ], "predicted_position_m": [ 0.05051307108672063, -0.21648812656728597, -0.02361245814746732 ], "error_m": [ -0.00015397302462388102, 0.0024949618172493693, 0.0046951907132772135 ], "error_norm_m": 0.0053191501196985114 }, { "marker_id": 60, "link": "Board", "observed_position_m": [ 0.43425729872112223, 0.28802988039823474, -0.0309486927442688 ], "predicted_position_m": [ 0.43699557414691786, 0.28363987826526604, -0.033118924922027185 ], "error_m": [ 0.002738275425795633, -0.004390002132968696, -0.0021702321777583855 ], "error_norm_m": 0.005610719984134288 }, { "marker_id": 61, "link": "Board", "observed_position_m": [ -0.010814179369573025, 0.3625986153726949, -0.058550260766022925 ], "predicted_position_m": [ -0.01954399035953118, 0.3377092543999973, -0.03164332176979118 ], "error_m": [ -0.008729810989958155, -0.02488936097269756, 0.026906938996231748 ], "error_norm_m": 0.03767855166665209 }, { "marker_id": 62, "link": "Board", "observed_position_m": [ 0.40396050923284166, -0.1808179446242536, -0.028599465829837613 ], "predicted_position_m": [ 0.4053054548079929, -0.17507949274253046, -0.026021129595555467 ], "error_m": [ 0.0013449455751512462, 0.0057384518817231445, 0.0025783362342821463 ], "error_norm_m": 0.00643323607028244 }, { "marker_id": 63, "link": "Board", "observed_position_m": [ 0.7949458603471651, -0.24548258326387218, -0.04913515978759058 ], "predicted_position_m": [ 0.7777269433950996, -0.23779932147636001, -0.026943312962704705 ], "error_m": [ -0.017218916952065455, 0.007683261787512163, 0.022191846824885876 ], "error_norm_m": 0.029120468371864643 }, { "marker_id": 64, "link": "Board", "observed_position_m": [ -0.01993857714996432, -0.18737007978299772, -0.027589535690200388 ], "predicted_position_m": [ -0.02071310400705243, -0.18629067321634743, -0.02371141586106204 ], "error_m": [ -0.0007745268570881099, 0.0010794065666502872, 0.0038781198291383476 ], "error_norm_m": 0.004099368707207805 }, { "marker_id": 66, "link": "Board", "observed_position_m": [ 0.21091510351356133, -0.35870416080836703, -0.02322984065323515 ], "predicted_position_m": [ 0.20952730377446688, -0.3623086482135437, -0.022205593000908422 ], "error_m": [ -0.0013877997390944474, -0.0036044874051766596, 0.0010242476523267298 ], "error_norm_m": 0.00399592302518512 }, { "marker_id": 68, "link": "Board", "observed_position_m": [ 0.5703757179158573, 0.17129158911003126, -0.020013990158071728 ], "predicted_position_m": [ 0.5758616476738124, 0.1698566989062171, -0.03209544157108385 ], "error_m": [ 0.005485929757955144, -0.0014348902038141542, -0.012081451413012121 ], "error_norm_m": 0.013346003276306813 }, { "marker_id": 69, "link": "Board", "observed_position_m": [ 0.01821885231049882, -0.2745655547857751, 0.012236864175390822 ], "predicted_position_m": [ 0.007754790679972199, -0.27938907839359434, -0.022446218033981606 ], "error_m": [ -0.010464061630526619, -0.004823523607819236, -0.034683082209372426 ], "error_norm_m": 0.03654694456920763 }, { "marker_id": 72, "link": "Board", "observed_position_m": [ 0.4416946103352995, 0.2004297240791988, -0.033153228128658896 ], "predicted_position_m": [ 0.44322941144378747, 0.19413118026738826, -0.03179633077381709 ], "error_m": [ 0.001534801108487971, -0.006298543811810525, 0.0013568973548418045 ], "error_norm_m": 0.006623325375027959 }, { "marker_id": 75, "link": "Board", "observed_position_m": [ -0.027589551433998636, 0.1989490233656398, -0.03601109417578881 ], "predicted_position_m": [ -0.023448981101294022, 0.19649160323573367, -0.02948764392857363 ], "error_m": [ 0.0041405703327046135, -0.0024574201299061293, 0.006523450247215179 ], "error_norm_m": 0.008107936821586195 }, { "marker_id": 77, "link": "Board", "observed_position_m": [ 0.016156193883505702, 0.1943544777170941, -0.03523861349258849 ], "predicted_position_m": [ 0.020426715524073248, 0.19328444004887982, -0.029659544864071657 ], "error_m": [ 0.004270521640567546, -0.0010700376682142854, 0.005579068628516835 ], "error_norm_m": 0.00710692215066789 }, { "marker_id": 79, "link": "Board", "observed_position_m": [ 0.310047030168521, -0.16120763740678112, -0.028727202192626658 ], "predicted_position_m": [ 0.31297828465355887, -0.15867561421846313, -0.025805443152258484 ], "error_m": [ 0.002931254485037893, 0.0025320231883179944, 0.0029217590403681735 ], "error_norm_m": 0.004851811019836607 }, { "marker_id": 83, "link": "Board", "observed_position_m": [ 0.04263294632548029, 0.33855190105663624, -0.026776850249412003 ], "predicted_position_m": [ 0.047049519356668575, 0.34079917234606427, -0.03202459695254375 ], "error_m": [ 0.004416573031188281, 0.0022472712894280322, -0.005247746703131745 ], "error_norm_m": 0.007217699844710729 }, { "marker_id": 84, "link": "Board", "observed_position_m": [ 0.40651731299695343, 0.2635947414421958, -0.031200475959120857 ], "predicted_position_m": [ 0.4100138195306969, 0.25837397462585776, -0.03260120770754397 ], "error_m": [ 0.0034965065337434487, -0.0052207668163380405, -0.0014007317484231105 ], "error_norm_m": 0.006437702503387954 }, { "marker_id": 85, "link": "Board", "observed_position_m": [ 0.5047323924693697, -0.3146837985660768, -0.028776385421720237 ], "predicted_position_m": [ 0.5045740834513299, -0.3131618895670964, -0.024431175365270563 ], "error_m": [ -0.000158309018039815, 0.0015219089989804147, 0.0043452100564496735 ], "error_norm_m": 0.004606747136650944 }, { "marker_id": 92, "link": "Board", "observed_position_m": [ 0.6477765936807125, -0.18779221837513357, -0.026859959387030237 ], "predicted_position_m": [ 0.6456469667325145, -0.18590021551939476, -0.027064827071524283 ], "error_m": [ -0.00212962694819796, 0.0018920028557388169, -0.00020486768449404572 ], "error_norm_m": 0.0028560386049149874 }, { "marker_id": 95, "link": "Board", "observed_position_m": [ 0.18644853768715097, -0.26979266182923844, -0.02601423965121431 ], "predicted_position_m": [ 0.18621238885372735, -0.2730530363071244, -0.023438551008858662 ], "error_m": [ -0.00023614883342362725, -0.0032603744778859634, 0.0025756886423556474 ], "error_norm_m": 0.004161728005280666 }, { "marker_id": 96, "link": "Board", "observed_position_m": [ 0.36790395610776006, -0.18772929998934804, -0.030013085919358293 ], "predicted_position_m": [ 0.37032583405756464, -0.18631086340555864, -0.025675521167012782 ], "error_m": [ 0.002421877949804585, 0.0014184365837894009, 0.004337564752345511 ], "error_norm_m": 0.005166422662420486 }, { "marker_id": 97, "link": "Board", "observed_position_m": [ 0.305273658195896, -0.35428811167604907, -0.02945612889482689 ], "predicted_position_m": [ 0.3041409379499523, -0.3591748624677238, -0.02272829272992706 ], "error_m": [ -0.0011327202459437413, -0.004886750791674721, 0.006727836164899831 ], "error_norm_m": 0.00839208960374223 }, { "marker_id": 102, "link": "Board", "observed_position_m": [ 0.6536976922159287, -0.2253578058204357, -0.032438910093710166 ], "predicted_position_m": [ 0.6500779967513324, -0.2240761678503642, -0.026509636477328017 ], "error_m": [ -0.0036196954645962842, 0.0012816379700715252, 0.005929273616382149 ], "error_norm_m": 0.0070640694192988665 }, { "marker_id": 103, "link": "Board", "observed_position_m": [ 0.10594206296931999, -0.1879652258175319, -0.02884225398674956 ], "predicted_position_m": [ 0.10626635193572592, -0.18634224328177543, -0.024348525745122827 ], "error_m": [ 0.0003242889664059334, 0.001622982535756462, 0.004493728241626731 ], "error_norm_m": 0.004788823358059554 }, { "marker_id": 105, "link": "Board", "observed_position_m": [ 0.5264165216698055, -0.2688317341333843, -0.02845634930142057 ], "predicted_position_m": [ 0.5250394028542521, -0.26675886427248424, -0.025235877324987416 ], "error_m": [ -0.0013771188155533576, 0.0020728698609000507, 0.0032204719764331556 ], "error_norm_m": 0.004069973641606313 }, { "marker_id": 113, "link": "Arm2", "observed_position_m": [ 0.3043504113162732, -0.16342080444178161, 0.19159083359811127 ], "predicted_position_m": [ 0.2965294237285723, -0.2276748585240017, -0.015362523245006048 ], "error_m": [ -0.007820987587700945, -0.0642540540822201, -0.20695335684311733 ], "error_norm_m": 0.21683967169658436 }, { "marker_id": 205, "link": "Board", "observed_position_m": [ 0.7489894152144476, -0.0946777642177216, 0.011499463842086416 ], "predicted_position_m": [ 0.7511129380826358, -0.09112677225283562, -0.001424682013906098 ], "error_m": [ 0.002123522868188177, 0.00355099196488598, -0.012924145855992514 ], "error_norm_m": 0.01357027779425946 }, { "marker_id": 206, "link": "Board", "observed_position_m": [ 0.6470614141033517, -0.01404770744543954, 0.007443829827654312 ], "predicted_position_m": [ 0.6514691974154823, -0.010686657607704453, -0.0021408535961513478 ], "error_m": [ 0.004407783312130542, 0.0033610498377350875, -0.00958468342380566 ], "error_norm_m": 0.011072098539708296 }, { "marker_id": 207, "link": "Board", "observed_position_m": [ 0.746927474812465, -0.014711387164351887, 0.012573056785971311 ], "predicted_position_m": [ 0.7514669567644714, -0.01113673267674881, -0.0026363912979269436 ], "error_m": [ 0.0045394819520063745, 0.0035746544876030777, -0.015209448083898255 ], "error_norm_m": 0.01626998347003244 }, { "marker_id": 208, "link": "Board", "observed_position_m": [ 0.34962604966682787, -0.09490395799451053, 0.002841045842009961 ], "predicted_position_m": [ 0.35112190068667914, -0.08932647197665819, 0.0005574687931962849 ], "error_m": [ 0.0014958510198512798, 0.005577486017852337, -0.002283577048813676 ], "error_norm_m": 0.006209721788518147 }, { "marker_id": 210, "link": "Board", "observed_position_m": [ 0.018453120684287182, -0.01875891948253165, 0.0017813754004262809 ], "predicted_position_m": [ 0.021439061181621134, -0.01784993961973586, 0.0011324975855375112 ], "error_m": [ 0.0029859404973339512, 0.0009089798627957904, -0.0006488778148887697 ], "error_norm_m": 0.0031879660385960833 }, { "marker_id": 211, "link": "Board", "observed_position_m": [ 0.2502774988241454, -0.011277367820175927, 0.004962316130767351 ], "predicted_position_m": [ 0.2514781600195256, -0.008886357331527026, -0.00015870278904896488 ], "error_m": [ 0.0012006611953802038, 0.0023910104886489016, -0.005121018919816317 ], "error_norm_m": 0.005777832919013629 }, { "marker_id": 214, "link": "Board", "observed_position_m": [ 0.3508221488911031, -0.01501404351625457, 0.006864136974898124 ], "predicted_position_m": [ 0.35147591936851474, -0.009336432400571382, -0.0006542404908245607 ], "error_m": [ 0.0006537704774116637, 0.005677611115683188, -0.007518377465722685 ], "error_norm_m": 0.009443976044820902 }, { "marker_id": 215, "link": "Board", "observed_position_m": [ 0.24962967714096296, -0.09115762464261382, 0.0006327009616794301 ], "predicted_position_m": [ 0.25112414133769, -0.08887639690761384, 0.0010530064949718808 ], "error_m": [ 0.0014944641967270522, 0.0022812277349999743, 0.0004203055332924506 ], "error_norm_m": 0.0027593622371026964 }, { "marker_id": 217, "link": "Board", "observed_position_m": [ 0.6500973346758959, -0.09392395009388244, 0.004187047049603587 ], "predicted_position_m": [ 0.6511151787336467, -0.09067669718379126, -0.0009291443121305022 ], "error_m": [ 0.0010178440577507386, 0.003247252910091175, -0.00511619136173409 ], "error_norm_m": 0.006144596979288114 }, { "marker_id": 218, "link": "Arm2", "observed_position_m": [ 0.3482716057013419, -0.12130969437262437, 0.23973355626363202 ], "predicted_position_m": [ 0.3094344378556557, -0.14502628219801006, -0.020623078502264955 ], "error_m": [ -0.038837167845686194, -0.023716587825385688, -0.260356634765897 ], "error_norm_m": 0.2643035743439273 }, { "marker_id": 219, "link": "Arm2", "observed_position_m": [ 0.3498224514515102, -0.17832895611062086, 0.14383701816701167 ], "predicted_position_m": [ 0.3093559356243786, -0.23163985210017432, 0.042202739010160084 ], "error_m": [ -0.04046651582713162, -0.053310895989553464, -0.10163427915685158 ], "error_norm_m": 0.12169271643828697 }, { "marker_id": 242, "link": "Arm1", "observed_position_m": [ 0.2283412560069035, -0.05997823418655316, 0.31949165864926 ], "predicted_position_m": [ 0.23396384630365294, -0.04880325704970489, -0.13732025205924941 ], "error_m": [ 0.005622590296749441, 0.011174977136848271, -0.4568119107085094 ], "error_norm_m": 0.45698316752459645 }, { "marker_id": 243, "link": "Arm1", "observed_position_m": [ 0.20368490071885342, -0.07973426899772547, 0.3575961536962362 ], "predicted_position_m": [ 0.23374967673035854, -0.09827070616645925, -0.13560981080833104 ], "error_m": [ 0.030064776011505118, -0.01853643716873378, -0.4932059645045672 ], "error_norm_m": 0.4944690219643823 }, { "marker_id": 246, "link": "Ellbow", "observed_position_m": [ 0.30301442356310937, -0.07549437743830627, 0.3553956311957831 ], "predicted_position_m": [ 0.3242140451476838, -0.05253746500790477, -0.08384634072401498 ], "error_m": [ 0.021199621584574446, 0.022956912430401495, -0.4392419719197981 ], "error_norm_m": 0.44035207922713265 }, { "marker_id": 247, "link": "Ellbow", "observed_position_m": [ 0.26556467511765125, -0.07489419949497929, 0.3572391411379206 ], "predicted_position_m": [ 0.2867148853918945, -0.052368686857013506, -0.08366051408584954 ], "error_m": [ 0.021150210274243242, 0.022525512637965782, -0.44089965522377017 ], "error_norm_m": 0.4419810358948529 } ] }