{ "schema_version": "1.1", "stage": "corner_marker_poses", "created_utc": "2026-06-02T10:17:49Z", "summary": { "num_cameras": 7, "num_markers": 52 }, "cameras": [ { "camera_id": "a", "position_m": [ -0.29860435642298544, -0.7989737188953816, 0.8053572016872256 ], "position_mm": [ -298.60435642298546, -798.9737188953816, 805.3572016872256 ], "direction": [ 0.47681212425231934, 0.6564357280731201, -0.5845873355865479 ] }, { "camera_id": "b", "position_m": [ 0.30487125972248375, -0.9001105936796677, 1.1964276641530223 ], "position_mm": [ 304.8712597224837, -900.1105936796678, 1196.4276641530223 ], "direction": [ 0.004683269653469324, 0.6283239126205444, -0.7779377102851868 ] }, { "camera_id": "c", "position_m": [ 0.32440277320231625, -0.8961608222708353, 0.39538181254691507 ], "position_mm": [ 324.40277320231627, -896.1608222708353, 395.38181254691506 ], "direction": [ -0.1327180564403534, 0.9471269845962524, -0.2921240031719208 ] }, { "camera_id": "d", "position_m": [ 0.7025223729217407, -0.7948821102733414, 0.39697084793149384 ], "position_mm": [ 702.5223729217407, -794.8821102733415, 396.97084793149384 ], "direction": [ -0.5549365282058716, 0.783879816532135, -0.2785280644893646 ] }, { "camera_id": "e", "position_m": [ 1.2316582864647396, -0.8929830615675266, 0.39181392877650884 ], "position_mm": [ 1231.6582864647396, -892.9830615675266, 391.8139287765088 ], "direction": [ -0.7713589668273926, 0.5865152478218079, -0.24699220061302185 ] }, { "camera_id": "f", "position_m": [ 0.5026508990092529, -0.30417473684393315, 1.3963563930085523 ], "position_mm": [ 502.65089900925284, -304.17473684393315, 1396.3563930085522 ], "direction": [ -0.240851029753685, 0.0825331062078476, -0.9670465588569641 ] }, { "camera_id": "g", "position_m": [ -0.20265086125819326, 0.20883043970876597, 1.391162199715044 ], "position_mm": [ -202.65086125819326, 208.83043970876597, 1391.1621997150442 ], "direction": [ 0.3007599711418152, -0.3040454089641571, -0.9039357304573059 ] } ], "markers": [ { "marker_id": 41, "link": "FingerA", "position_m": [ 0.36950104633857195, -0.1569802817852749, 0.16245837267656255 ], "position_mm": [ 369.50104633857194, -156.9802817852749, 162.45837267656253 ], "normal": [ -0.485352498096268, -0.7747029077877434, -0.40530032970246577 ], "corners_m": [ [ 0.3558389154866275, -0.15285098509079872, 0.1713606374935181 ], [ 0.3750551538884477, -0.16736177532391297, 0.17522819500536543 ], [ 0.38323107639569604, -0.16059494288597673, 0.1533578555556309 ], [ 0.3638790395835164, -0.1471134238404112, 0.14988680265173585 ] ], "num_cameras": 2, "edge_length_mm": 24.04332086233495 }, { "marker_id": 42, "link": "FingerA", "position_m": [ 0.3795366606538439, -0.1893319804853178, 0.1327821071279349 ], "position_mm": [ 379.5366606538439, -189.33198048531779, 132.7821071279349 ], "normal": [ 0.4459701675065569, -0.8716328161364597, 0.20338840558940013 ], "corners_m": [ [ 0.36762665087355806, -0.1926530234803791, 0.14453813568682353 ], [ 0.38929177700236506, -0.1816467774630358, 0.14445357651046672 ], [ 0.3912599752925655, -0.18605788840827886, 0.1209795537839897 ], [ 0.3699682394468871, -0.1969702325895774, 0.12115716253045959 ] ], "num_cameras": 4, "edge_length_mm": 24.0209109705043 }, { "marker_id": 43, "link": "FingerB", "position_m": [ 0.33336682598867673, -0.14896246636192723, 0.13676858097431482 ], "position_mm": [ 333.36682598867674, -148.96246636192723, 136.76858097431483 ], "normal": [ -0.12739688568233645, -0.6788360822868559, 0.7231539302969144 ], "corners_m": [ [ 0.3184338544580323, -0.15259336871690096, 0.13070388206180936 ], [ 0.3266575916158291, -0.13727097299487762, 0.14658678972043634 ], [ 0.34844674421398136, -0.14544000910041616, 0.14270637559911054 ], [ 0.3399291136668641, -0.1605455146355142, 0.12707727651590306 ] ], "num_cameras": 6, "edge_length_mm": 23.42307437110426 }, { "marker_id": 46, "link": "Board", "position_m": [ 0.5340647616196394, 0.18217077344484325, -0.02683904836493505 ], "position_mm": [ 534.0647616196394, 182.17077344484326, -26.839048364935053 ], "normal": [ -0.03104296034117807, -0.024873157886101453, 0.9992085170924181 ], "corners_m": [ [ 0.5224508932214837, 0.17089886517857755, -0.027391795802897898 ], [ 0.5227656475457266, 0.19408481267665406, -0.026984543502595403 ], [ 0.5453714506858857, 0.1933294250176913, -0.026118055069199595 ], [ 0.5456710550254616, 0.17036999090645014, -0.0268617990850473 ] ], "num_cameras": 2, "edge_length_mm": 23.008083146561862 }, { "marker_id": 47, "link": "Board", "position_m": [ 0.3435830683117723, -0.2883174602085513, -0.027300969143938557 ], "position_mm": [ 343.5830683117723, -288.3174602085513, -27.300969143938556 ], "normal": [ -0.004958847239838103, 0.009653080510518275, 0.9999411122014683 ], "corners_m": [ [ 0.3320043791313085, -0.30005211425886735, -0.027248930137227578 ], [ 0.3321276938703343, -0.2764501398072722, -0.02746851540733934 ], [ 0.35515298114703, -0.2768068592313704, -0.02735861111682846 ], [ 0.3550472190984166, -0.2999607275366954, -0.02712781991435884 ] ], "num_cameras": 4, "edge_length_mm": 23.207557535434518 }, { "marker_id": 48, "link": "Board", "position_m": [ 0.6871160559440097, -0.31812360164010484, -0.027554905439982704 ], "position_mm": [ 687.1160559440098, -318.1236016401048, -27.554905439982704 ], "normal": [ 0.03070609162734953, 0.0088971486719488, 0.9994888577080197 ], "corners_m": [ [ 0.6756436654460488, -0.3300119661618895, -0.027006223665495228 ], [ 0.6753937746766397, -0.30655596177291616, -0.027390853521904422 ], [ 0.6982568949096508, -0.30635122419856436, -0.027907968025679526 ], [ 0.6991698887436995, -0.3295752544270493, -0.027914576546851626 ] ], "num_cameras": 3, "edge_length_mm": 23.28003634832851 }, { "marker_id": 51, "link": "Board", "position_m": [ 0.16819998964326632, -0.17328885533281382, -0.027424624657930045 ], "position_mm": [ 168.19998964326632, -173.28885533281382, -27.424624657930046 ], "normal": [ -0.0002079672596489952, 0.0014630318450569602, 0.9999989081431235 ], "corners_m": [ [ 0.1559540269774949, -0.18416110188910784, -0.02755573412399138 ], [ 0.15687809603431047, -0.16138947104047252, -0.027297397534655002 ], [ 0.18024945170663775, -0.16208367688900333, -0.027581468355832323 ], [ 0.1797183838546222, -0.18552117151267156, -0.027263898617241482 ] ], "num_cameras": 6, "edge_length_mm": 23.35648009672796 }, { "marker_id": 52, "link": "Board", "position_m": [ 0.09319227868159763, 0.21386087957137706, -0.027802934831273007 ], "position_mm": [ 93.19227868159763, 213.86087957137707, -27.802934831273006 ], "normal": [ 0.039322723968252406, -0.014447264566876065, 0.999122114621757 ], "corners_m": [ [ 0.08208931588147438, 0.20199724412297043, -0.027207800939962855 ], [ 0.08106179375275428, 0.22457844454111534, -0.027488356528519914 ], [ 0.10474657029769117, 0.22578160757542112, -0.027768781675786988 ], [ 0.1048714347944707, 0.20308622204600132, -0.028746800180822277 ] ], "num_cameras": 2, "edge_length_mm": 22.9750169540332 }, { "marker_id": 53, "link": "Board", "position_m": [ 0.48825593689311203, 0.21434199469706366, -0.026778274233660426 ], "position_mm": [ 488.25593689311205, 214.34199469706365, -26.778274233660426 ], "normal": [ -0.0458335573425858, 0.010444860005544676, 0.9988944838774456 ], "corners_m": [ [ 0.4769141928912352, 0.20313357111015884, -0.027618024149299397 ], [ 0.47663648979861417, 0.22615330104845346, -0.027009381821698337 ], [ 0.49993283808989997, 0.2257436870441862, -0.02677952821281262 ], [ 0.49954022679269877, 0.20233741958545617, -0.025706162750831364 ] ], "num_cameras": 3, "edge_length_mm": 23.121326211143252 }, { "marker_id": 54, "link": "Board", "position_m": [ 0.3397429806649803, -0.32765210158407787, -0.026999532304754343 ], "position_mm": [ 339.74298066498034, -327.65210158407785, -26.999532304754343 ], "normal": [ 0.02965225713915527, 0.008017646456897844, 0.9995281191601594 ], "corners_m": [ [ 0.32804945184317785, -0.33947717994563553, -0.026382482939530848 ], [ 0.3278468332529763, -0.3161000241139544, -0.026917822703820045 ], [ 0.3512296863856049, -0.31579904573572803, -0.027257255555326834 ], [ 0.35184595117816225, -0.33923215654099353, -0.027440568020339645 ] ], "num_cameras": 4, "edge_length_mm": 23.508654215066215 }, { "marker_id": 55, "link": "Board", "position_m": [ 0.28446192600650144, -0.26085324892331946, -0.0274104877851161 ], "position_mm": [ 284.4619260065014, -260.8532489233195, -27.4104877851161 ], "normal": [ -0.006137475289083423, 0.020030063167056918, 0.9997805399019325 ], "corners_m": [ [ 0.27227136268634705, -0.2719955038075233, -0.027040593579470702 ], [ 0.2733409680832041, -0.24873441055648804, -0.027945520378163974 ], [ 0.2965203221535013, -0.24970510979588398, -0.027335679947029904 ], [ 0.29571505110295315, -0.2729779715333825, -0.027320157235799822 ] ], "num_cameras": 4, "edge_length_mm": 23.315914730659912 }, { "marker_id": 56, "link": "Board", "position_m": [ 0.5002279106145937, 0.16510043470210745, -0.027261206964675534 ], "position_mm": [ 500.2279106145937, 165.10043470210744, -27.261206964675534 ], "normal": [ -0.02163357706663657, 0.02418501106221838, 0.9994733981368501 ], "corners_m": [ [ 0.48857231206667723, 0.15391110902522873, -0.027099033556880585 ], [ 0.4887155085247038, 0.176873179788362, -0.02793797670528555 ], [ 0.5119560125923848, 0.1761782904672513, -0.027131234938083126 ], [ 0.5116678092746088, 0.15343915952758766, -0.026876582658452875 ] ], "num_cameras": 3, "edge_length_mm": 23.021623120294848 }, { "marker_id": 57, "link": "Board", "position_m": [ 0.604037199472852, -0.3653895807715357, -0.027039358819563382 ], "position_mm": [ 604.037199472852, -365.3895807715357, -27.039358819563382 ], "normal": [ 0.03877691053125527, -0.003723672419561286, 0.9992409546617687 ], "corners_m": [ [ 0.5913967777816295, -0.3760781557908561, -0.02649477195410612 ], [ 0.5932399596872654, -0.35289715126897825, -0.026671186206042596 ], [ 0.6162505143245187, -0.3548217078522652, -0.027375274841715362 ], [ 0.615261546097994, -0.37776130817404324, -0.027616202276389442 ] ], "num_cameras": 2, "edge_length_mm": 23.317239296447998 }, { "marker_id": 58, "link": "Board", "position_m": [ 0.047775643771922616, -0.21683856323818426, -0.026880899671872422 ], "position_mm": [ 47.77564377192262, -216.83856323818426, -26.880899671872424 ], "normal": [ -0.0017222370390034363, 0.006859676105828161, 0.9999749890588787 ], "corners_m": [ [ 0.03625951022989057, -0.22859430455300775, -0.02685824933979771 ], [ 0.03574821078067564, -0.2055002443190778, -0.026941375423104603 ], [ 0.05933178661995577, -0.20489379608457228, -0.026980341400378933 ], [ 0.05976306745716846, -0.22836590799607925, -0.02674363252420844 ] ], "num_cameras": 5, "edge_length_mm": 23.41837169076752 }, { "marker_id": 59, "link": "Board", "position_m": [ 0.6268551592201067, -0.2770824520646457, -0.026558629890070445 ], "position_mm": [ 626.8551592201067, -277.08245206464574, -26.558629890070446 ], "normal": [ 0.014542473586199662, -0.0024779637360490274, 0.9998911821581974 ], "corners_m": [ [ 0.615668869857898, -0.28918280941329827, -0.026529794679743098 ], [ 0.6148247880566198, -0.26564444326013803, -0.02624912881519995 ], [ 0.6377942863693065, -0.2651897624483998, -0.0267962659919909 ], [ 0.6391326925966025, -0.28831279313674657, -0.026659330073347823 ] ], "num_cameras": 3, "edge_length_mm": 23.294530539952014 }, { "marker_id": 61, "link": "Board", "position_m": [ -0.022031038900412827, 0.3348369209997638, -0.027425685114981398 ], "position_mm": [ -22.031038900412828, 334.83692099976383, -27.4256851149814 ], "normal": [ 0.01857835812735231, 0.02153775915021783, 0.9995954029206412 ], "corners_m": [ [ -0.033236261629508095, 0.32256785763240786, -0.026922406019884687 ], [ -0.03435921599276311, 0.34569498925599657, -0.027461442838088896 ], [ -0.01092837131816328, 0.34711402589830587, -0.02786566600183891 ], [ -0.009600306661216822, 0.32397081121234494, -0.027453225600113092 ] ], "num_cameras": 3, "edge_length_mm": 23.37659261600976 }, { "marker_id": 62, "link": "Board", "position_m": [ 0.4019069325017631, -0.17278646188063426, -0.02791324596057388 ], "position_mm": [ 401.90693250176315, -172.78646188063425, -27.91324596057388 ], "normal": [ -0.0032692540925090634, 0.005200524686480579, 0.9999811330823517 ], "corners_m": [ [ 0.3906406293056102, -0.18484506352430766, -0.027795505213942504 ], [ 0.39028277257913413, -0.16130220475733636, -0.02810709018818141 ], [ 0.41267312497063835, -0.16105295963864402, -0.02784038251395624 ], [ 0.4140312031516698, -0.18394561960224898, -0.027910005926215373 ] ], "num_cameras": 4, "edge_length_mm": 23.070530510479717 }, { "marker_id": 63, "link": "Board", "position_m": [ 0.7756762778552057, -0.2361412114736878, -0.028065913565643846 ], "position_mm": [ 775.6762778552056, -236.1412114736878, -28.065913565643847 ], "normal": [ 0.0214491503956351, 0.006474180794787677, 0.9997489779591384 ], "corners_m": [ [ 0.7646410805682692, -0.24817062606840168, -0.027633858821610176 ], [ 0.7636477049159914, -0.224824922258047, -0.027998458649197942 ], [ 0.7867355156657245, -0.22440111647737335, -0.028258879387093976 ], [ 0.7876808102708376, -0.24716818109092917, -0.0283724574046733 ] ], "num_cameras": 3, "edge_length_mm": 23.08078928372605 }, { "marker_id": 64, "link": "Board", "position_m": [ -0.018930281099521006, -0.1897510255033657, -0.026665052842466973 ], "position_mm": [ -18.930281099521007, -189.7510255033657, -26.665052842466974 ], "normal": [ 0.007791870678036708, 0.006613427998016119, 0.9999477732969118 ], "corners_m": [ [ -0.03068034367692027, -0.20144011374176607, -0.026462837216725238 ], [ -0.030565326816553468, -0.17800531485699245, -0.026685521041756914 ], [ -0.007215318466756455, -0.17813600897635232, -0.0267994959463718 ], [ -0.007260135437853835, -0.20142266443835205, -0.026712357165013946 ] ], "num_cameras": 5, "edge_length_mm": 23.373799221230612 }, { "marker_id": 66, "link": "Board", "position_m": [ 0.20955626421947166, -0.364037307156283, -0.02761910001649091 ], "position_mm": [ 209.55626421947164, -364.037307156283, -27.61910001649091 ], "normal": [ 0.008249937357857076, 0.04883797675090784, 0.9987726420764984 ], "corners_m": [ [ 0.19757831299041773, -0.37524946749635935, -0.026752075593149557 ], [ 0.19809760201649315, -0.35238198569681134, -0.02831994023531475 ], [ 0.2212355330126702, -0.35262926883679935, -0.028051065593043246 ], [ 0.2213136088583056, -0.37588850659516204, -0.027353318644456084 ] ], "num_cameras": 2, "edge_length_mm": 23.272300953259922 }, { "marker_id": 68, "link": "Board", "position_m": [ 0.5749037610823675, 0.17355327285054298, -0.027376448973036684 ], "position_mm": [ 574.9037610823675, 173.55327285054298, -27.376448973036684 ], "normal": [ -0.03448128606264602, -0.0043218743686821446, 0.9993959987479474 ], "corners_m": [ [ 0.563804730679451, 0.16191795487166857, -0.02789817639437921 ], [ 0.5631601394214021, 0.1850099722810996, -0.027644329350027294 ], [ 0.5861038557747359, 0.18507589053405915, -0.027028827745895354 ], [ 0.586546318453881, 0.16220927371534458, -0.02693446240184489 ] ], "num_cameras": 3, "edge_length_mm": 22.92235661505301 }, { "marker_id": 69, "link": "Board", "position_m": [ 0.006244121099359479, -0.2779404769739163, -0.02703332106204314 ], "position_mm": [ 6.244121099359479, -277.94047697391625, -27.03332106204314 ], "normal": [ 0.006656545581029828, 0.01038373704793605, 0.9999239313097007 ], "corners_m": [ [ -0.005467465102942101, -0.28962395471400126, -0.026840937816521027 ], [ -0.005093256537652785, -0.2659892397223454, -0.027075065488538042 ], [ 0.0179850486878546, -0.2663618128992217, -0.027238671425642492 ], [ 0.0175521573501782, -0.28978690056009676, -0.026978609517471004 ] ], "num_cameras": 4, "edge_length_mm": 23.2929675656944 }, { "marker_id": 71, "link": "Board", "position_m": [ 0.7507854287064484, -0.28529537240083486, -0.026175878623494474 ], "position_mm": [ 750.7854287064483, -285.2953724008349, -26.175878623494473 ], "normal": [ -0.045734308133835465, -0.004067051744500394, 0.9989453599419876 ], "corners_m": [ [ 0.7389185447738719, -0.29621836991963474, -0.026725333509244716 ], [ 0.7401188989793139, -0.2727124387488999, -0.026651720030184206 ], [ 0.7625185711679848, -0.27457121402900686, -0.025555621921320763 ], [ 0.7615856999046227, -0.2976794669057979, -0.025770839033228198 ] ], "num_cameras": 2, "edge_length_mm": 22.975591712322657 }, { "marker_id": 72, "link": "Board", "position_m": [ 0.4406958384835464, 0.19310610691012722, -0.0261307478949506 ], "position_mm": [ 440.69583848354637, 193.1061069101272, -26.1307478949506 ], "normal": [ -0.00010082055383230005, 0.010284508560219447, 0.9999471079606614 ], "corners_m": [ [ 0.42960127348952076, 0.1811546982245313, -0.026176632075810648 ], [ 0.42826642024791717, 0.20408526231053503, -0.026077303927805637 ], [ 0.4517811033110897, 0.20529838563168695, -0.02641915158899498 ], [ 0.45313455688565796, 0.18188608147375562, -0.025849903987191124 ] ], "num_cameras": 3, "edge_length_mm": 23.38081207700369 }, { "marker_id": 74, "link": "Board", "position_m": [ 0.09426872656197238, 0.1416901643554713, -0.02738820967418551 ], "position_mm": [ 94.26872656197239, 141.6901643554713, -27.38820967418551 ], "normal": [ -0.07027731759440337, 0.057078179023619446, 0.9958931569757286 ], "corners_m": [ [ 0.08244121563240848, 0.130229725251931, -0.027184534083626984 ], [ 0.08239171551595419, 0.155012159071827, -0.029362764287267192 ], [ 0.10629854110179672, 0.15245450225444818, -0.02676010665081796 ], [ 0.10594343399773014, 0.12906427084367905, -0.026245433675029902 ] ], "num_cameras": 2, "edge_length_mm": 24.002537793074083 }, { "marker_id": 75, "link": "Board", "position_m": [ -0.026966564702143283, 0.19351101584976127, -0.02767498900865786 ], "position_mm": [ -26.966564702143284, 193.51101584976126, -27.67498900865786 ], "normal": [ -0.08527767313715054, 0.073594085675617, 0.9936355614700408 ], "corners_m": [ [ -0.03906935519926478, 0.18198629581624287, -0.02728903587282577 ], [ -0.038921147653755435, 0.2073928659361557, -0.030286695667316354 ], [ -0.014708161554335247, 0.20381350550804914, -0.026765208308605418 ], [ -0.015167594401217678, 0.18085139613859735, -0.02635901618588389 ] ], "num_cameras": 2, "edge_length_mm": 24.307108426489066 }, { "marker_id": 77, "link": "Board", "position_m": [ 0.01491585319471534, 0.19086000932778266, -0.02769795763826033 ], "position_mm": [ 14.915853194715341, 190.86000932778265, -27.697957638260327 ], "normal": [ -0.04165042568483751, -0.004759492301518064, 0.9991209082354866 ], "corners_m": [ [ 0.0027163613682914525, 0.1800714309907295, -0.028319510790852615 ], [ 0.0035218882192217093, 0.20283433883773713, -0.02805325424541533 ], [ 0.026922775760750087, 0.20168623644656336, -0.027208346658590777 ], [ 0.026502387430598115, 0.1788480310361006, -0.027210718858182582 ] ], "num_cameras": 2, "edge_length_mm": 23.227078452345236 }, { "marker_id": 79, "link": "Board", "position_m": [ 0.3117082283554784, -0.15942857162839844, -0.02737027031459688 ], "position_mm": [ 311.7082283554784, -159.42857162839843, -27.37027031459688 ], "normal": [ -0.007411689159100588, -0.002283184166290475, 0.9999699265147286 ], "corners_m": [ [ 0.2995017594400379, -0.17058892465152709, -0.027516030269868853 ], [ 0.30048805606141177, -0.14736911117922596, -0.027395478808160383 ], [ 0.3236736747373133, -0.14836379229719102, -0.027287013741864975 ], [ 0.3231694231831508, -0.17139245838564965, -0.027282558438493313 ] ], "num_cameras": 4, "edge_length_mm": 23.291225015040183 }, { "marker_id": 85, "link": "Board", "position_m": [ 0.5065268606106833, -0.31384448839461154, -0.02735110042244414 ], "position_mm": [ 506.5268606106833, -313.8444883946115, -27.351100422444137 ], "normal": [ 0.03148685821887567, -0.006740243249761969, 0.9994814389874573 ], "corners_m": [ [ 0.49415534318076487, -0.3250521302319507, -0.027118320970957135 ], [ 0.495527225616404, -0.3014359923771189, -0.026840009037646332 ], [ 0.5189417679555143, -0.3029911983256854, -0.027752398208459275 ], [ 0.51748310569005, -0.3258986326436911, -0.02769367347271381 ] ], "num_cameras": 3, "edge_length_mm": 23.361390618732667 }, { "marker_id": 92, "link": "Board", "position_m": [ 0.6464836178452892, -0.18696450953896243, -0.027572332006885095 ], "position_mm": [ 646.4836178452891, -186.96450953896243, -27.572332006885095 ], "normal": [ 0.026229058928661366, -0.015800351110356384, 0.9995310827445569 ], "corners_m": [ [ 0.6349638821918382, -0.19853077299961325, -0.02774876803935258 ], [ 0.6347879854534034, -0.17544423284760635, -0.026790674681881656 ], [ 0.658117107029746, -0.17515996938986012, -0.027977928067868002 ], [ 0.658065496706169, -0.1987230629187699, -0.027771957238438148 ] ], "num_cameras": 2, "edge_length_mm": 23.283650094612458 }, { "marker_id": 95, "link": "Board", "position_m": [ 0.186779065551792, -0.2768377273538355, -0.02736161945273391 ], "position_mm": [ 186.779065551792, -276.8377273538355, -27.36161945273391 ], "normal": [ 0.0069927731860624474, -0.0034374407700579206, 0.9999696421012594 ], "corners_m": [ [ 0.17567025278858606, -0.2890316961916536, -0.02724787158455212 ], [ 0.17439648418690168, -0.2658246340487465, -0.027314171577581002 ], [ 0.19804460458955098, -0.2648053494602827, -0.02732089472004192 ], [ 0.19900492064212924, -0.28768922971465916, -0.02756353992876059 ] ], "num_cameras": 5, "edge_length_mm": 23.298213887524266 }, { "marker_id": 96, "link": "Board", "position_m": [ 0.37186487817409236, -0.18491401143345373, -0.02705081559194236 ], "position_mm": [ 371.8648781740924, -184.91401143345374, -27.05081559194236 ], "normal": [ 0.040918666822209404, -0.041782535436085344, 0.9982884765627746 ], "corners_m": [ [ 0.3599350099710943, -0.19565680284091305, -0.027680617141564424 ], [ 0.36031681239002405, -0.17553473370446962, -0.02549990865297279 ], [ 0.3834543593627425, -0.17292405227741797, -0.027636438040213377 ], [ 0.38375333097250874, -0.1955404569110143, -0.027386298533018837 ] ], "num_cameras": 3, "edge_length_mm": 22.516465389054733 }, { "marker_id": 97, "link": "Board", "position_m": [ 0.3064676048897031, -0.35871652052216996, -0.02690984626325633 ], "position_mm": [ 306.46760488970307, -358.71652052216996, -26.90984626325633 ], "normal": [ -0.0183390791358342, 0.014353152440355068, 0.9997287958198832 ], "corners_m": [ [ 0.2948409057850689, -0.37025235194316103, -0.027137495889260378 ], [ 0.29539026388073253, -0.34682543435835284, -0.027101492679359497 ], [ 0.31795586608333426, -0.34733136868847836, -0.027047153031743775 ], [ 0.3176833838096767, -0.3704569270986875, -0.026353243452661667 ] ], "num_cameras": 3, "edge_length_mm": 22.99978699186278 }, { "marker_id": 102, "link": "Board", "position_m": [ 0.6510200971099188, -0.22397428403476494, -0.02703662425456192 ], "position_mm": [ 651.0200971099188, -223.97428403476493, -27.036624254561918 ], "normal": [ 0.042257941189156364, -0.052461529610454236, 0.9977284471825916 ], "corners_m": [ [ 0.6384940126967679, -0.2347876194877433, -0.02685547742788461 ], [ 0.6398879619513126, -0.2120149061485068, -0.02616766141879784 ], [ 0.6629244061205294, -0.21345810500862578, -0.026750332184719193 ], [ 0.6627740076710652, -0.23563650549418386, -0.02837302598684603 ] ], "num_cameras": 4, "edge_length_mm": 23.12375856066822 }, { "marker_id": 103, "link": "Board", "position_m": [ 0.10502013636283916, -0.19078201704726683, -0.027202215479913985 ], "position_mm": [ 105.02013636283917, -190.78201704726683, -27.202215479913985 ], "normal": [ 0.014551500516323373, 0.009920911197975337, 0.9998449026492686 ], "corners_m": [ [ 0.09361559540771196, -0.20273592775797789, -0.026977657851379993 ], [ 0.09283402317256477, -0.17948408947345737, -0.027077075806018615 ], [ 0.1164502470121102, -0.17879397725255294, -0.027547228779698413 ], [ 0.11718067985896971, -0.2021140737050791, -0.02720689948255891 ] ], "num_cameras": 6, "edge_length_mm": 23.451145646752778 }, { "marker_id": 105, "link": "Board", "position_m": [ 0.5224243145322311, -0.2681555819217276, -0.027451233916575488 ], "position_mm": [ 522.4243145322312, -268.1555819217276, -27.451233916575486 ], "normal": [ -0.010440114613584727, 0.0055324361710984435, 0.9999301956421098 ], "corners_m": [ [ 0.5112241044237738, -0.28016844971905014, -0.027839334578541892 ], [ 0.5101332226169398, -0.2567188496553514, -0.027315875005549835 ], [ 0.5340073137029852, -0.25607010025156884, -0.027722242148914354 ], [ 0.5343326173852259, -0.2796649280609399, -0.026927483933295852 ] ], "num_cameras": 2, "edge_length_mm": 23.52739610314845 }, { "marker_id": 113, "link": "Arm2", "position_m": [ 0.40737015454925696, -0.07150606387845401, 0.22535204301966832 ], "position_mm": [ 407.37015454925694, -71.50606387845401, 225.35204301966832 ], "normal": [ 0.8662673158463651, -0.28931982784951565, 0.4072775155952766 ], "corners_m": [ [ 0.40118845534291997, -0.06737163360299754, 0.24107039243925074 ], [ 0.41326554991824144, -0.056093029772542165, 0.22413895764784345 ], [ 0.41344406971409703, -0.07512740776801247, 0.20949282328080018 ], [ 0.4015825432217694, -0.0874321843702639, 0.2267059987107789 ] ], "num_cameras": 3, "edge_length_mm": 24.152389425878116 }, { "marker_id": 122, "link": "Arm2", "position_m": [ 0.3654534395006679, -0.01788035939372189, 0.2722319141904116 ], "position_mm": [ 365.4534395006679, -17.88035939372189, 272.2319141904116 ], "normal": [ -0.5073247618145489, -0.4925737536306324, 0.7071016074681492 ], "corners_m": [ [ 0.3555862448764872, -0.005310899067757438, 0.27389176934277637 ], [ 0.3758959893375922, -0.011769638047360694, 0.2839971425507141 ], [ 0.37529797456261443, -0.030718980417644388, 0.2703353160548696 ], [ 0.35503354922597763, -0.023721920042125047, 0.26070342881328623 ] ], "num_cameras": 5, "edge_length_mm": 23.277884582327893 }, { "marker_id": 124, "link": "Arm2", "position_m": [ 0.36697536107301176, -0.1076053069504847, 0.213057597884818 ], "position_mm": [ 366.97536107301175, -107.6053069504847, 213.05759788481802 ], "normal": [ -0.4915512978464731, -0.4896624489203023, 0.7201444353064324 ], "corners_m": [ [ 0.3568739974010201, -0.09445065342435742, 0.21517260168718286 ], [ 0.3775289014394144, -0.10119913738236422, 0.22455297569923194 ], [ 0.37710368375317854, -0.12103640477450435, 0.21090202089256938 ], [ 0.3563948616984341, -0.11373503222071282, 0.20160279326028782 ] ], "num_cameras": 5, "edge_length_mm": 23.79577739558642 }, { "marker_id": 205, "link": "Board", "position_m": [ 0.7531292614711929, -0.09008861943811154, -0.0006331290218404666 ], "position_mm": [ 753.1292614711929, -90.08861943811154, -0.6331290218404666 ], "normal": [ -0.01042064521416525, -0.021025044846582575, 0.9997246409099456 ], "corners_m": [ [ 0.7417345334829205, -0.07809358652984072, -0.0007359042297752476 ], [ 0.7646501122798833, -0.0788296971340182, -3.6422829894057715e-05 ], [ 0.7647414366513854, -0.10190303880151186, -0.0009960752969844307 ], [ 0.7413909634705825, -0.10152815528707536, -0.0007641137307081306 ] ], "num_cameras": 2, "edge_length_mm": 23.20581872808627 }, { "marker_id": 206, "link": "Board", "position_m": [ 0.6508138990126457, -0.00917685569199911, -0.0009809417995210264 ], "position_mm": [ 650.8138990126457, -9.17685569199911, -0.9809417995210263 ], "normal": [ 0.029824687025757315, -0.023845019878870336, 0.9992706855856385 ], "corners_m": [ [ 0.6389994630225478, 0.0019045976698157596, -0.0006434592684023992 ], [ 0.6616527826868, 0.0028794851363715896, -0.0007328721734408424 ], [ 0.6635178427591589, -0.020014143301816202, -0.0018815468611543416 ], [ 0.6390855075820759, -0.021477362272367587, -0.000665888895086522 ] ], "num_cameras": 2, "edge_length_mm": 23.390262648611422 }, { "marker_id": 208, "link": "Board", "position_m": [ 0.35218750136768834, -0.08855459864595347, 0.0004895434778985163 ], "position_mm": [ 352.18750136768836, -88.55459864595348, 0.48954347789851627 ], "normal": [ -0.004466023354327864, 0.011727863743733026, 0.9999212528231446 ], "corners_m": [ [ 0.34059041657474215, -0.07649186497666095, 0.00036450026951113235 ], [ 0.3645780866504501, -0.07711418240318955, 0.0003442216511634152 ], [ 0.3640648041948457, -0.10093681925720448, 0.0007527032996990882 ], [ 0.3395166980507153, -0.09967552794675888, 0.0004967486912204293 ] ], "num_cameras": 2, "edge_length_mm": 23.904531765150583 }, { "marker_id": 210, "link": "Board", "position_m": [ 0.021408923374954453, -0.02042900708310446, 0.0007810615708715504 ], "position_mm": [ 21.40892337495445, -20.42900708310446, 0.7810615708715505 ], "normal": [ 0.005655853054025354, 0.0012427354403075075, 0.9999832333268677 ], "corners_m": [ [ 0.009343857763399488, -0.009016919709697533, 0.0007645483101929616 ], [ 0.03286966397283404, -0.008833731601774948, 0.0007740750129460368 ], [ 0.033539056689382375, -0.03156923738108189, 0.0006544943198999681 ], [ 0.00988311507420191, -0.03229613963986347, 0.0009311286404472354 ] ], "num_cameras": 5, "edge_length_mm": 23.306744571553295 }, { "marker_id": 211, "link": "Board", "position_m": [ 0.25249759740154865, -0.009158526215881393, 8.905475381248893e-05 ], "position_mm": [ 252.49759740154866, -9.158526215881393, 0.08905475381248892 ], "normal": [ 1.7146172402202268e-07, 0.016670213775505947, 0.999861042331708 ], "corners_m": [ [ 0.2412150878694653, 0.003722454755522186, -0.0003278007384484518 ], [ 0.2647046539986788, 0.0016206822498275166, 0.00012011447370644863 ], [ 0.26405237223428224, -0.021560898265080734, 8.939651202473214e-05 ], [ 0.2400182755037682, -0.020416343603794535, 0.00047450876796722676 ] ], "num_cameras": 4, "edge_length_mm": 23.75615415952323 }, { "marker_id": 214, "link": "Board", "position_m": [ 0.34756885604769033, -0.010923587553645293, 0.00033147674473639824 ], "position_mm": [ 347.56885604769036, -10.923587553645293, 0.3314767447363982 ], "normal": [ 0.009318665872949689, -0.0004130224734102962, 0.9999564949930496 ], "corners_m": [ [ 0.33587332270448, 0.0007844969805486299, 0.0004573620808571427 ], [ 0.35939857385999746, 0.00013075939284702275, 0.00021369638775098684 ], [ 0.35964201598029705, -0.022597096354113635, 0.00022587342789715908 ], [ 0.33536151164598677, -0.02201251023386319, 0.00042897508244030453 ] ], "num_cameras": 2, "edge_length_mm": 23.33897902748622 }, { "marker_id": 215, "link": "Board", "position_m": [ 0.25062788746451353, -0.08856971006539369, 0.00013911894879397473 ], "position_mm": [ 250.62788746451352, -88.56971006539369, 0.13911894879397474 ], "normal": [ 0.003021285675498775, 0.006330232258678126, 0.9999753996936216 ], "corners_m": [ [ 0.2392499859553641, -0.07624680738263835, 9.493139503048809e-05 ], [ 0.2628031014744667, -0.07729464417306706, 3.1516195486919805e-05 ], [ 0.262068888149529, -0.10083235340609413, 0.00018162323319927118 ], [ 0.23838957427869434, -0.09990503529977515, 0.0002484049714592198 ] ], "num_cameras": 5, "edge_length_mm": 23.624514560854177 }, { "marker_id": 217, "link": "Board", "position_m": [ 0.6469219106552453, -0.08899069387975128, -0.000540159828870117 ], "position_mm": [ 646.9219106552453, -88.99069387975128, -0.5401598288701169 ], "normal": [ 0.0073954524808129305, 0.018418055717415168, 0.9998030218529019 ], "corners_m": [ [ 0.6355048777271795, -0.07679596194305628, -0.00035433244997745635 ], [ 0.6590649018138652, -0.07772061473053468, -0.0011650338904234444 ], [ 0.6585410069843053, -0.10112939680893546, -8.038770910722722e-05 ], [ 0.6345768560956312, -0.10031680203647872, -0.00056088526597234 ] ], "num_cameras": 2, "edge_length_mm": 23.638658128247226 }, { "marker_id": 231, "link": "Ellbow", "position_m": [ 0.38157981276342356, 0.10239238952815838, 0.3405407067649199 ], "position_mm": [ 381.57981276342355, 102.39238952815838, 340.5407067649199 ], "normal": [ -0.0072908159091636966, 0.19931430127996907, 0.9799084923137754 ], "corners_m": [ [ 0.3693919739560541, 0.11380927484899356, 0.33809297355102813 ], [ 0.39303244261492953, 0.11422638427615547, 0.338253922902566 ], [ 0.39406026113469356, 0.09103651894013072, 0.34290915811128797 ], [ 0.36983457334801706, 0.09049738004735373, 0.34290677249479734 ] ], "num_cameras": 3, "edge_length_mm": 23.83976124174344 }, { "marker_id": 242, "link": "Arm1", "position_m": [ 0.2913238336472122, 0.05529538395182801, 0.3040629913716254 ], "position_mm": [ 291.3238336472122, 55.29538395182801, 304.0629913716254 ], "normal": [ 0.019557139819116144, -0.9963734475228585, -0.08280985058257938 ], "corners_m": [ [ 0.30279515840128474, 0.05482718957582909, 0.31606920208338046 ], [ 0.3035012344481151, 0.05615477427420651, 0.29282194070559275 ], [ 0.2802129418371698, 0.05639606645943617, 0.291904620339951 ], [ 0.27878599990227915, 0.05380350549784027, 0.3154562023575775 ] ], "num_cameras": 3, "edge_length_mm": 23.59475182345879 }, { "marker_id": 243, "link": "Arm1", "position_m": [ 0.29121541966195363, 0.08540256987002874, 0.3439657516984913 ], "position_mm": [ 291.21541966195366, 85.40256987002874, 343.9657516984913 ], "normal": [ 0.02085972359889171, -0.04179771458258307, 0.9989083156061176 ], "corners_m": [ [ 0.27949941784082816, 0.09721870230751828, 0.3447863224720007 ], [ 0.3032561892794651, 0.0972356590008521, 0.34412945832434055 ], [ 0.3031205031824432, 0.07335729282467406, 0.3432918536401044 ], [ 0.27898556834507804, 0.07379862534707055, 0.3436553723575196 ] ], "num_cameras": 4, "edge_length_mm": 23.813499655778735 }, { "marker_id": 246, "link": "Ellbow", "position_m": [ 0.3813308608897595, 0.06957615541650068, 0.3339533893332564 ], "position_mm": [ 381.3308608897595, 69.57615541650068, 333.95338933325644 ], "normal": [ 0.014353077947651727, -0.5500853289707753, 0.834985101666217 ], "corners_m": [ [ 0.36914653668154845, 0.0790411529154081, 0.3403711554998406 ], [ 0.39306479137842426, 0.07912253603487485, 0.3400663335684376 ], [ 0.3935214250739727, 0.05953606712304118, 0.3271039230064787 ], [ 0.3695906904250925, 0.0606048655926786, 0.3282721452582689 ] ], "num_cameras": 3, "edge_length_mm": 23.362859415992045 }, { "marker_id": 247, "link": "Ellbow", "position_m": [ 0.3429376271576755, 0.07418981329712483, 0.33826370934034355 ], "position_mm": [ 342.9376271576755, 74.18981329712483, 338.26370934034355 ], "normal": [ -0.003844105600676517, -0.5473864819909888, 0.8368711144409633 ], "corners_m": [ [ 0.3306895295503401, 0.08366299414960592, 0.344340322249065 ], [ 0.35417325054158155, 0.08442470918017296, 0.3450718566994005 ], [ 0.3556597380370504, 0.06456296360581694, 0.33196569940425924 ], [ 0.33122799050173, 0.0641085862529035, 0.3316769590086494 ] ], "num_cameras": 5, "edge_length_mm": 23.772662866512793 } ] }