{
  "coordinateSystem": {
    "handedness": "right",
    "x": "right",
    "y": "backward",
    "z": "up"
  },
  "units": {
    "length": "mm",
    "rotation": "degree"
  },
  "vision_config": {
    "MarkerType": "DICT_4X4_250",
    "MarkerSize": 0.025
  },
  "renderingInfo": {
    "width": 1280,
    "height": 720,
    "cameraPosition__1": [-10, -800, 500],
    "cameraPosition__2": [-500, 300, 1200],
    "cameraPosition__3": [-200, -900, 200],
    "cameraPosition__4": [1200, 200, 300],
    "cameraPosition_a":[-300, -800,500],
    "cameraPosition":[300, -800,550],
    "cameraPosition_c":[600, -500,600],
    "cameraTarget": [210, -200, 180],
    "cameraUpVector": [0, 0, 1],
    "lightPosition": [-500, -500, 500],
    "lightTarget": [0, 0, 0],
    "lightUpVector": [0, 0, 1],
    "metric": "mm",
    "showSkeleton": true,
    "showMarkers": true,
    "backgroundColor": [0.70, 0.85, 1.0],
    "backgroundStrength": 0.20,
    "sunEnergy": 0.35,
    "areaEnergy": 120,
    "exposure": -1.5,
    "lensDirt": true,
    "lensDirtStrength": 0.08,
    "dofEnabled": true,
    "dofFStop": 16,
    "arucoDust": false,
    "arucoDustStrength": 0.00005,
    "localizedBlur": false,
    "localizedBlurStrength": 0.15,
    "vignette": true,
    "vignetteStrength": 0.08,

    "sensorNoise": true,
    "sensorNoiseStrength": 0.01,

    "lensDistortion": true,
    "lensDistortionStrength": 0.002,
    "materials": {
      "wood": {
        "baseColor": [0.72, 0.52, 0.33],
        "roughness": 0.85,
        "metallic": 0.0
      },
      "plaWhite": {
        "baseColor": [0.95, 0.95, 0.95],
        "roughness": 0.45,
        "metallic": 0.0
      },
      "steel": {
        "baseColor": [0.72, 0.72, 0.75],
        "roughness": 0.25,
        "metallic": 1.0
      },
      "powderCoatBlue": {
        "baseColor": [0.15, 0.25, 0.7],
        "roughness": 0.55,
        "metallic": 0.0
      },
      "defaultPlastic": {
        "baseColor": [0.95, 0.95, 0.95],
        "roughness": 0.4,
        "metallic": 0.0
      },
      "skeletonRed": {
        "baseColor": [0.85, 0.20, 0.20],
        "roughness": 0.35,
        "metallic": 0.0
      },
      "markerBlack": {
        "baseColor": [0.04, 0.04, 0.04],
        "roughness": 0.80,
        "metallic": 0.0
      }
    },
    "skeletonDefaults": {
      "radius": 4,
      "color": [0.85, 0.20, 0.20]
    },
    "markerDefaults": {
      "size": 25,
      "thickness": 1,
      "color": [0.04, 0.04, 0.04]
    }
  },
  "defaultPosition__": {
    "x": 10,
    "y": 4,
    "z": 20,
    "a": 10,
    "b": 2,
    "c": 9,
    "e": 1
  },
  "defaultPosition": {
    "x": 180,
    "y": 86,
    "z": -120,
    "a": -60,
    "b": 22,
    "c": 91,
    "e": 10
  },
  "recognized": {
    "x": null,
    "y": null,
    "z": null,
    "a": null,
    "b": null,
    "c": null,
    "e": null
  },
  "constraint_rules": {

    "rigid_distance": {
      "enabled": true,
      "mode": "mst",
      "weight": 1.0
    },

    "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
    },

    "axis_alignment_threshold": 0.95
  },
  "observation_weighting": {
      "enabled": true,
      "distance_weight": true,
      "marker_size_weight": true,
      "view_angle_weight": true
  },
  "multiview_calculation": {
    "combine_mode": "mean",
    "size_ref_px": 50.0,
    "border_ref_px": 120.0,
    "center_ref_norm": 0.01,
    "sharpness_ref": 2500.0,
    "homography_ref": 0.18,
    "size_factor": 0.3,
    "aspect_factor": 0.3,
    "border_factor": 0.01,
    "center_factor": 0.01,
    "sharpness_factor": 0.5,
    "homography_factor": 0.2,
    "normal_visibility_factor": 0.01,
    "spin_factor": 0.3,
    "weight_floor": 0.3
  },
  "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
  },
  "links": {
    "Board": {
      "parent": null,
      "size": [1000, 200, 25],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "skeleton": {
        "from": [0, 0, 16],
        "to": [1000, 0, 16],
        "radius": 4,
        "color": [0.85, 0.20, 0.20]
      },
      "markers":[         
        {"id":210,"position":[20,  -20, 0.3], "normal":[0,0,1]},
        {"id":211,"position":[250, -10, 0.3], "normal":[0,0,1]},
        {"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]},
        {"id":205,"position":[750, -90, 0.3], "normal":[0,0,1]},
        {"id":207,"position":[750, -10, 0.3], "normal":[0,0,1]},
        {"id":217,"position":[650, -90, 0.3], "normal":[0,0,1]}
      ],
      "model": [
        {
          "stlFile": "surfaces/Board.stl",
          "originOfModel": [0, 0, 0],
          "rotationOfModelDegree": [0, 0, -90],
          "material": "wood"
        },
        {
          "stlFile": "surfaces/BoardRail.stl",
          "originOfModel": [0, 0, 0],
          "rotationOfModelDegree": [0, 0, -90],
          "material": "steel"
        }
      ]
    },
    "Base": {
      "parent": "Board",
      "size": [150, 200, 150],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
        "name": "Slider",
        "type": "linear",
        "axis": [1, 0, 0],
        "origin": [0, 0, 16],
        "rotation": [0, 0, 0],
        "variable": "x"
      },
      "skeleton": {
        "from": [0, 108, 45],
        "to": [110, 108, 45],
        "radius": 4,
        "color": [0.20, 0.80, 0.20]
      },
      "markers": [
      ],
      "model": [
        {
          "stlFile": "surfaces/Base.stl",
          "originOfModel": [-30, 0, -35],
          "rotationOfModelDegree": [0, 0, 0],
          "material": "plaWhite"
        }
      ]
    },
    "Arm1": {
      "parent": "Base",
      "size": [70, 250, 70],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
        "name": "Joint1",
        "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": [0.20, 0.20, 0.90]
      },
      "markers": [
        {
          "id": 198,
          "name": "aruco_198",
          "position": [0, -160, 35],
          "normal": [0, 0, 1],
          "size": 25,
          "spin": 0
        },
        {
          "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": [
        {
          "stlFile": "surfaces/Holm.stl",
          "originOfModel__": [-25,29,-28.5],
          "originOfModel": [-29,25,28.5],
          "rotationOfModelDegree__": [0, 0, 0],
          "rotationOfModelDegree": [180, 0, -90],
          "material": "powderCoatBlue"
        }
      ]
    },
    "Ellbow": {
      "parent": "Arm1",

      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],

      "jointToParent": {
        "name": "Joint2",
        "type": "revolute",
        "axis": [-1, 0, 0],
        "origin": [0, -250, 0],
        "rotation": [0, 0, 0],
        "variable": "z"
      },

      "skeleton": {
        "from": [0, 0, 0],
        "to": [90, 0, 0],
        "radius": 4,
        "color": [0.90, 0.20, 0.20]
      }, 
      "model": [
        {
          "stlFile": "surfaces/Ellebogen.stl",
          "originOfModel": [90,0,0],
          "rotationOfModelDegree": [0,-90,-90],
          "material": "defaultPlastic"
        }
      ],
      "markers": [
        {
          "id": 244,
          "name": "aruco_244",
          "position": [125, 0, 0],
          "normal": [1, 0, 0],
          "size": 25,
          "spin": 0
        },
        {
          "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
        }
      ]

    },
    "Arm2": {
      "parent": "Ellbow",

      "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, 0.20]
      },
      "model": [
        {
          "stlFile": "surfaces/Unterarm.stl",
          "originOfModel": [0,-250,0],
          "rotationOfModelDegree": [180, 0, -90],
          "material": "defaultPlastic"
        }
      ], 
      "markers":[
                     
        {"id":120,                      "position":[24.75, -112, -24.75],"normal":[1,0,-1]},
        {"id":122, "name": "aruco_122", "position":[-35,-112,0], "normal":[-1,0,0]},
        {"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":101, "name": "aruco_101", "position":[ 24.75, -182, -24.75],"normal":[ 1,0,-1]},
        {"id":102, "name": "aruco_102", "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]}

      ]
    },
    "Hand": {
      "parent": "Arm2",

      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],

      "jointToParent": {
        "name": "Joint4",
        "type": "revolute",
        "axis": [1, 0, 0],
        "origin": [0, -250, 0],
        "rotation": [0, 0, 0],
        "variable": "b"
      },

      "skeleton": {
        "from": [0, 0, 0],
        "to": [0, -35, 0],
        "radius": 4,
        "color": [0.95, 0.55, 0.15]
      }
    },
    "Palm": {
      "parent": "Hand",

      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],

      "jointToParent": {
        "name": "Joint3",
        "type": "revolute",
        "axis": [0, -1, 0],
        "origin": [0, 0, 0],
        "rotation": [0, 0, 0],
        "variable": "c"
      },

      "skeleton": {
        "from": [-50, -35, 0],
        "to": [50, -35, 0],
        "radius": 7,
        "color": [0.95, 0.20, 0.20]
      }
    },
    "FingerA": {
      "parent": "Palm",
      "size": [80, 60, 20],
      "mountPosition": [0, 0, 0],
      "mountRotation": [0, 0, 0],
      "jointToParent": {
        "name": "Slider",
        "type": "linear",
        "axis": [1, 0, 0],
        "origin": [4, -35,0],
        "rotation": [0, 0, 0],
        "variable": "e"
      },
      "skeleton": {
        "from": [0, 0,0],
        "to": [0, -60, 0],
        "radius": 4,
        "color": [0.20, 0.80, 0.20]
      },
      "markers":[      
        {"id":40,"position":[12,-24,-17.1],"normal":[-10.98,0,-23.56]},
        {"id":41,"position":[1.5,-2.2,25.8],"normal":[0,-25.6,9.5]},
        {"id":42,"position":[13.9,-40,0],"normal":[1,-0.35,0.40], "spin": 27}
      ],
      "model": [
        {
          "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": {
        "name": "Slider",
        "type": "linear",
        "axis": [-1, 0, 0],
        "origin": [-4, -35,0],
        "rotation": [0, 0, 0],
        "variable": "e"
      },
      "skeleton": {
        "from": [0, 0,0],
        "to": [0, -60, 0],
        "radius": 4,
        "color": [0.20, 0.80, 0.20]
      },
      "markers":[      
        {"id":43,"position":[-12,-24,17.1],"normal":[10.98,0,23.56], "spin":90 },
        {"id":44,"position":[-1.5,-2.2,-25.8],"normal":[0,-25.6,-9.5], "spin":90},
        {"id":45,"position":[-13.9,-40,0],"normal":[-1,-0.35,-0.40], "spin": -27}
      ],
      "model": [
        {
          "stlFile": "surfaces/Finger.stl",
          "originOfModel": [-24,0,9.1],
          "rotationOfModelDegree": [90, 90,0],
          "material": "defaultPlastic"
        }
      ]
    }
  }
}