{ "schema_version": "1.0", "method": "deterministic_geometric_sequential_prefix", "created_utc": "2026-06-01T19:02:44Z", "root_pose": { "translation_m": [ 3.509966383380414e-05, 3.99371701941334e-05, 3.730886178373444e-05 ], "rotation_matrix": [ [ 0.9999999739678707, 5.032874209020971e-05, 0.00022255623089902405 ], [ -5.03358357270102e-05, 0.9999999982253688, 3.1867974001596084e-05 ], [ -0.00022255462662902414, -3.1879175725885257e-05, 0.9999999747265779 ] ], "euler_xyz_deg": [ -0.001826542268993341, 0.012751440922217267, -0.0028840310180632232 ] }, "movements": { "x": { "value_m": 0.17643663775809057, "value_mm": 176.43663775809057, "joint_type": "linear", "link": "Base" }, "y": { "value_rad": 1.8458890434692918, "value_deg": 105.76165164023098, "joint_type": "revolute", "link": "Arm1" }, "z": { "value_rad": -1.0733099865513207, "value_deg": -61.49613233863382, "joint_type": "revolute", "link": "Ellbow" }, "a": { "value_rad": 1.656255078355672, "value_deg": 94.89642578688947, "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": [ 3.509966383380414e-05, 3.99371701941334e-05, 3.730886178373444e-05 ], "rotation_matrix": [ [ 0.9999999739678707, 5.032874209020971e-05, 0.00022255623089902405 ], [ -5.03358357270102e-05, 0.9999999982253688, 3.1867974001596084e-05 ], [ -0.00022255462662902414, -3.1879175725885257e-05, 0.9999999747265779 ] ] }, "Base": { "translation_m": [ 0.17647529372842094, 3.156597216375056e-05, 0.015998041667369088 ], "rotation_matrix": [ [ 0.9999999739678707, 5.032874209020971e-05, 0.00022255623089902405 ], [ -5.03358357270102e-05, 0.9999999982253688, 3.1867974001596084e-05 ], [ -0.00022255462662902414, -3.1879175725885257e-05, 0.9999999747265779 ] ] }, "Arm1": { "translation_m": [ 0.2864907413994229, 0.10802746289740368, 0.0609701165701575 ], "rotation_matrix": [ [ 0.9999999739653274, -0.00022785922697761207, -1.2017939650005888e-05 ], [ -5.033583572688218e-05, -0.2716668379091556, 0.962391358359422 ], [ -0.0002225546266284581, -0.9623913327013919, -0.2716668423065737 ] ] }, "Ellbow": { "translation_m": [ 0.28654770620616726, 0.17594417237469256, 0.3015679497455055 ], "rotation_matrix": [ [ 0.9999999739642819, -0.00011929972724444389, 0.00019450407006432283 ], [ -5.0335835726829556e-05, 0.7160906669727896, 0.6980072736994751 ], [ -0.00022255462662822543, -0.6980072653193837, 0.7160906423263725 ] ] }, "Arm2": { "translation_m": [ 0.3765477038629526, 0.17593964214947716, 0.30154791982910895 ], "rotation_matrix": [ [ -0.08516097269761469, -0.00011929972724418493, -0.9963671986208741 ], [ 0.6954642782113203, 0.7160906669712351, -0.059528097585177304 ], [ 0.7134963534985967, -0.6980072653178686, -0.0609000090406069 ] ] }, "Hand": { "translation_m": [ 0.37657752879476364, -0.0030830245933316236, 0.4760497361585761 ], "rotation_matrix": [ [ -0.08516097269761469, -0.00011929972724418493, -0.9963671986208741 ], [ 0.6954642782113203, 0.7160906669712351, -0.059528097585177304 ], [ 0.7134963534985967, -0.6980072653178686, -0.0609000090406069 ] ] }, "Palm": { "translation_m": [ 0.37657752879476364, -0.0030830245933316236, 0.4760497361585761 ], "rotation_matrix": [ [ -0.08516097269761469, -0.00011929972724418493, -0.9963671986208741 ], [ 0.6954642782113203, 0.7160906669712351, -0.059528097585177304 ], [ 0.7134963534985967, -0.6980072653178686, -0.0609000090406069 ] ] }, "FingerA": { "translation_m": [ 0.37624106039442673, -0.025364340824479574, 0.5033339758586959 ], "rotation_matrix": [ [ -0.08516097269761469, -0.00011929972724418493, -0.9963671986208741 ], [ 0.6954642782113203, 0.7160906669712351, -0.059528097585177304 ], [ 0.7134963534985967, -0.6980072653178686, -0.0609000090406069 ] ] }, "FingerB": { "translation_m": [ 0.37692234817600767, -0.03092805505017014, 0.4976260050307071 ], "rotation_matrix": [ [ -0.08516097269761469, -0.00011929972724418493, -0.9963671986208741 ], [ 0.6954642782113203, 0.7160906669712351, -0.059528097585177304 ], [ 0.7134963534985967, -0.6980072653178686, -0.0609000090406069 ] ] } }, "stage_reports": [ { "method": "deterministic_geometric_prefix", "active_links": [ "Board", "Base", "Arm1" ], "active_observations": 46, "joint_updates": [ { "pass": 0, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.0, "new": 0.1798550866196677, "info": { "reason": "weighted_projection", "used_markers": 2, "axis_world": [ 0.9999999739668706, -5.0335835726959856e-05, -0.00022255462662880155 ], "per_marker": [ { "marker_id": 242, "q_i": 0.17978712219210513, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.1799230510472303, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 0.0, "new": 1.641248000650461, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 2, "axis_world": [ -0.9999999739668706, 5.0335835726959856e-05, 0.00022255462662880155 ], "axis_id": 0, "theta_rad": -1.5003446529393318, "theta_alt_rad": 1.641248000650461, "score_theta": 0.6229699085533049, "score_theta_alt": 0.056392410616870975, "best_score": 0.056392410616870975, "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": 0.1798550866196677, "new": 0.1798550866196676, "info": { "reason": "weighted_projection", "used_markers": 2, "axis_world": [ 0.9999999739668706, -5.0335835726959856e-05, -0.00022255462662880155 ], "per_marker": [ { "marker_id": 242, "q_i": 0.17978712219210502, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.1799230510472302, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 1.641248000650461, "new": 1.641248000650461, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 2, "axis_world": [ -0.9999999739668706, 5.0335835726959856e-05, 0.00022255462662880155 ], "axis_id": 0, "theta_rad": -1.5003446529393318, "theta_alt_rad": 1.641248000650461, "score_theta": 0.6229699085533049, "score_theta_alt": 0.056392410616870975, "best_score": 0.056392410616870975, "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, 61, 62, 63, 64, 66, 68, 69, 72, 73, 74, 75, 77, 79, 81, 82, 83, 84, 85, 86, 92, 95, 96, 97, 102, 103, 105 ] }, "marker_stats": { "num_markers_used": 46, "mean_error_m": 0.0019494110853473313, "rms_error_m": 0.007908622811100375, "median_error_m": 0.00027148753471114943, "worst_error_m": 0.03982517803847654 }, "marker_reports": [ { "marker_id": 46, "link": "Board", "error_m": [ -6.940884010531168e-05, 0.00013607725429981565, 6.0563275850050724e-05 ], "error_norm_m": 0.00016432442485592565, "predicted_m": [ 0.5367483428689593, 0.1854520510990232, -0.027388049416256513 ], "observed_m": [ 0.5368177517090647, 0.1853159738447234, -0.027448612692106564 ] }, { "marker_id": 47, "link": "Board", "error_m": [ -0.00013697226551262487, 0.00020230898875445158, -0.000147923646617424 ], "error_norm_m": 0.0002856076568985964, "predicted_m": [ 0.3442445937199319, -0.2865182594217256, -0.027330165768363855 ], "observed_m": [ 0.3443815659854445, -0.28672056841048005, -0.02718224212174643 ] }, { "marker_id": 51, "link": "Board", "error_m": [ 0.0001862196521308368, -9.067416213653923e-05, 0.00010579994865413458 ], "error_norm_m": 0.0002325794308491419, "predicted_m": [ 0.16782035894060007, -0.1720493788733526, -0.02729454934604128 ], "observed_m": [ 0.16763413928846924, -0.17195870471121605, -0.027400349294695415 ] }, { "marker_id": 52, "link": "Board", "error_m": [ -0.00023726174153268498, 0.00036031761699248377, -0.0004126150008007222 ], "error_norm_m": 0.0005969698970601825, "predicted_m": [ 0.09471952300933281, 0.20869430100728273, -0.027290413829108042 ], "observed_m": [ 0.0949567847508655, 0.20833398339029024, -0.02687779882830732 ] }, { "marker_id": 53, "link": "Board", "error_m": [ 2.2149115954217535e-05, 0.00015507791547791916, 6.330867188906325e-06 ], "error_norm_m": 0.00015677953656613986, "predicted_m": [ 0.48628969299282865, 0.2122545909977339, -0.027377673671706265 ], "observed_m": [ 0.48626754387687443, 0.21209951308225597, -0.02738400453889517 ] }, { "marker_id": 54, "link": "Board", "error_m": [ -8.733483979123102e-05, 8.632832888988418e-06, -0.00021030112527834627 ], "error_norm_m": 0.00022787817652945155, "predicted_m": [ 0.3422823767898657, -0.3305681606853151, -0.02732832528360494 ], "observed_m": [ 0.34236971162965696, -0.33057679351820407, -0.027118024158326592 ] }, { "marker_id": 55, "link": "Board", "error_m": [ -2.2999180413041387e-05, 0.00014003997662043188, -8.108547781068148e-05 ], "error_norm_m": 0.00016344727609632792, "predicted_m": [ 0.28373580117179653, -0.2625552136428259, -0.027317462812956925 ], "observed_m": [ 0.2837588003522096, -0.26269525361944635, -0.027236377335146243 ] }, { "marker_id": 56, "link": "Board", "error_m": [ 2.191274963525558e-05, -9.199260231848583e-05, 4.1904291834076596e-05 ], "error_norm_m": 0.00010343489330018152, "predicted_m": [ 0.49871749984595637, 0.16868396540061648, -0.02737905105002889 ], "observed_m": [ 0.4986955870963211, 0.16877595800293496, -0.027420955341862965 ] }, { "marker_id": 58, "link": "Board", "error_m": [ 8.141076965966637e-05, -6.357932080286455e-05, 6.209061089882881e-05 ], "error_norm_m": 0.00012052090031244613, "predicted_m": [ 0.05010804537284361, -0.21807345376044288, -0.027266885042482116 ], "observed_m": [ 0.05002663460318394, -0.21800987443964, -0.027328975653380945 ] }, { "marker_id": 61, "link": "Board", "error_m": [ 8.542837521268928e-05, -0.00043567400799732203, 0.0003083482780012886 ], "error_norm_m": 0.0005405446411558351, "predicted_m": [ -0.022374073636173244, 0.3358701951079665, -0.02726840675710684 ], "observed_m": [ -0.022459502011385933, 0.33630586911596383, -0.02757675503510813 ] }, { "marker_id": 62, "link": "Board", "error_m": [ 4.5407920364837207e-05, 4.895657102457762e-05, 5.931060585763481e-05 ], "error_norm_m": 8.931054274576779e-05, "predicted_m": [ 0.4047202007807875, -0.1750813034274769, -0.027347176261979005 ], "observed_m": [ 0.4046747928604227, -0.1751302599985015, -0.02740648686783664 ] }, { "marker_id": 63, "link": "Board", "error_m": [ 3.6704777281126866e-05, 7.941394034063909e-05, 0.0002109390199994711 ], "error_norm_m": 0.00022836174100321834, "predicted_m": [ 0.7774171185089083, -0.23615006348511114, -0.027428176147645575 ], "observed_m": [ 0.7773804137316271, -0.23622947742545178, -0.027639115167645046 ] }, { "marker_id": 64, "link": "Board", "error_m": [ 5.157993376796177e-06, -0.0001716649447987273, -7.291639587968246e-05 ], "error_norm_m": 0.00018658043562096141, "predicted_m": [ -0.02125044894668999, -0.18818986184823136, -0.027251956094096558 ], "observed_m": [ -0.021255606940066785, -0.18801819690343263, -0.027179039698216875 ] }, { "marker_id": 66, "link": "Board", "error_m": [ -0.00011202599842652372, 0.00018688635795727215, -2.279822345346849e-05 ], "error_norm_m": 0.00021908010887944034, "predicted_m": [ 0.20976073750950172, -0.3632014901224406, -0.027297791808188365 ], "observed_m": [ 0.20987276350792824, -0.36338837648039785, -0.027274993584734897 ] }, { "marker_id": 68, "link": "Board", "error_m": [ 2.4393455366644723e-05, 0.00016909732600073335, -4.854754762518426e-05 ], "error_norm_m": 0.0001776114036478016, "predicted_m": [ 0.573767597039867, 0.17065018769264914, -0.027395816576733574 ], "observed_m": [ 0.5737432035845004, 0.1704810903666484, -0.02734726902910839 ] }, { "marker_id": 69, "link": "Board", "error_m": [ 6.912932255235919e-05, -6.206971020650265e-05, 0.00020648215640911571 ], "error_norm_m": 0.00022642083180888164, "predicted_m": [ 0.00762487073506257, -0.28117131538216195, -0.02725541934595461 ], "observed_m": [ 0.00755574141251021, -0.28110924567195544, -0.027461901502363727 ] }, { "marker_id": 72, "link": "Board", "error_m": [ 0.0004142921738053973, 0.00035997634678844315, -0.0004249132479705875 ], "error_norm_m": 0.0006940981514342688, "predicted_m": [ 0.4410287922799845, 0.19433686922946028, -0.02736702957447603 ], "observed_m": [ 0.4406145001061791, 0.19397689288267184, -0.026942116326505443 ] }, { "marker_id": 73, "link": "Board", "error_m": [ 1.2637196091569436e-05, 0.00013394327410032325, -0.00022530555666035526 ], "error_norm_m": 0.00026241778381772007, "predicted_m": [ 0.2217757831139039, 0.33313790561850076, -0.027322656757840347 ], "observed_m": [ 0.22176314591781232, 0.33300396234440044, -0.02709735120117999 ] }, { "marker_id": 74, "link": "Board", "error_m": [ -3.9146421010188837e-05, 4.586103983236778e-05, -0.00010551528520611614 ], "error_norm_m": 0.00012152840270710798, "predicted_m": [ 0.09381629394066922, 0.1445343464233952, -0.027288168162029502 ], "observed_m": [ 0.09385544036167941, 0.14448848538356282, -0.027182652876823386 ] }, { "marker_id": 75, "link": "Board", "error_m": [ 0.00010281631501389901, 0.00017859617242993453, 3.8758262874045296e-05 ], "error_norm_m": 0.00020969022480953617, "predicted_m": [ -0.025661182485608103, 0.1946203604601743, -0.02726317384436022 ], "observed_m": [ -0.025763998800622002, 0.19444176428774437, -0.027301932107234264 ] }, { "marker_id": 77, "link": "Board", "error_m": [ 5.945643794059985e-05, 0.00016824192554207307, -0.00020451492108272337 ], "error_norm_m": 0.0002714162236642486, "predicted_m": [ 0.018228664882328053, 0.1916081512256859, -0.027272845810604032 ], "observed_m": [ 0.018169208444387453, 0.19143990930014382, -0.02706833088952131 ] }, { "marker_id": 79, "link": "Board", "error_m": [ -0.0003535975388652135, -0.0003690267557460991, -1.5750856311263356e-05 ], "error_norm_m": 0.0005113316491501043, "predicted_m": [ 0.31232100794274237, -0.1590866524246321, -0.02732712196249834 ], "observed_m": [ 0.3126746054816076, -0.158717625668886, -0.027311371106187077 ] }, { "marker_id": 81, "link": "Board", "error_m": [ 0.00013539796217862388, -8.149109815261402e-05, 0.00018254475267341988 ], "error_norm_m": 0.00024144563356756543, "predicted_m": [ 0.1321775275061202, 0.16906241549720502, -0.027297487353687547 ], "observed_m": [ 0.13204212954394157, 0.16914390659535763, -0.027480032106360967 ] }, { "marker_id": 82, "link": "Board", "error_m": [ -5.415094073515925e-05, -0.00019778252975627408, 0.00040883282032982277 ], "error_norm_m": 0.00045737788363467175, "predicted_m": [ 0.21920397788882767, 0.29726803504525456, -0.02732094128641662 ], "observed_m": [ 0.21925812882956283, 0.29746581757501084, -0.027729774106746444 ] }, { "marker_id": 83, "link": "Board", "error_m": [ -7.235981519165824e-06, -0.00011949652591858317, 0.00014255053952747995 ], "error_norm_m": 0.0001861516463927514, "predicted_m": [ 0.044206095245043264, 0.3392568437420078, -0.02728333251455351 ], "observed_m": [ 0.04421333122656243, 0.3393763402679264, -0.02742588305408099 ] }, { "marker_id": 84, "link": "Board", "error_m": [ 0.00010561019811033967, 6.554271453151905e-05, -6.939417906787551e-05 ], "error_norm_m": 0.0001423548856259235, "predicted_m": [ 0.40753201922442883, 0.2584385553662033, -0.027361617449647983 ], "observed_m": [ 0.4074264090263185, 0.2583730126516718, -0.027292223270580108 ] }, { "marker_id": 85, "link": "Board", "error_m": [ 0.0001829567481470562, -0.00014475142311420885, 0.00013898942594064642 ], "error_norm_m": 0.0002715588457580502, "predicted_m": [ 0.5045932704293496, -0.31273633072647133, -0.027365016849548045 ], "observed_m": [ 0.5044103136812026, -0.3125915793033571, -0.027504006275488692 ] }, { "marker_id": 86, "link": "Board", "error_m": [ -0.0003553165299956529, 0.00042361775325344686, -0.0003659103276084791 ], "error_norm_m": 0.0006630174999275617, "predicted_m": [ 0.3629337109279086, 0.29203080028486683, -0.027352762334812965 ], "observed_m": [ 0.36328902745790426, 0.2916071825316134, -0.026986852007204486 ] }, { "marker_id": 92, "link": "Board", "error_m": [ -0.0003063712452819889, 0.00025284694788885176, -0.0001769888547842914 ], "error_norm_m": 0.00043487926337111007, "predicted_m": [ 0.645109704320976, -0.18483340364174242, -0.027400365665502784 ], "observed_m": [ 0.645416075566258, -0.18508625058963127, -0.027223376810718493 ] }, { "marker_id": 95, "link": "Board", "error_m": [ 0.00018881189493683004, 0.00019160803643775148, -7.704586943438341e-05 ], "error_norm_m": 0.00027982072348928575, "predicted_m": [ 0.18605522543736824, -0.27404029681800157, -0.027295357385298712 ], "observed_m": [ 0.1858664135424314, -0.2742319048544393, -0.02721831151586433 ] }, { "marker_id": 96, "link": "Board", "error_m": [ 0.0003500080736829059, -0.00011060413867314267, -5.8197357783524445e-05 ], "error_norm_m": 0.00037165287512385775, "predicted_m": [ 0.3697896284457174, -0.18646954517652192, -0.027339039325059333 ], "observed_m": [ 0.3694396203720345, -0.18635894103784878, -0.027280841967275808 ] }, { "marker_id": 97, "link": "Board", "error_m": [ 0.0002026478605312021, 0.00012255060958155095, -0.00021837867758689108 ], "error_norm_m": 0.0003221398052263685, "predicted_m": [ 0.30436091421718414, -0.3596462518988181, -0.027318958965733053 ], "observed_m": [ 0.30415826635665294, -0.35976880250839965, -0.027100580288146162 ] }, { "marker_id": 102, "link": "Board", "error_m": [ -0.00014814168053312038, -0.00019855261424012172, 0.00039011536098369076 ], "error_norm_m": 0.0004621245427459994, "predicted_m": [ 0.64970778365643, -0.22299363511886683, -0.02740017290743958 ], "observed_m": [ 0.6498559253369631, -0.2227950825046267, -0.02779028826842327 ] }, { "marker_id": 103, "link": "Board", "error_m": [ -0.00025452271371115276, 1.7149589082499084e-05, 0.00025028408677256475 ], "error_norm_m": 0.00035737661408123043, "predicted_m": [ 0.10572957391869611, -0.1876762534935748, -0.027280232657757288 ], "observed_m": [ 0.10598409663240727, -0.1876934030826573, -0.027530516744529852 ] }, { "marker_id": 105, "link": "Board", "error_m": [ 0.00016192678684168182, 0.0002159004590787661, -0.00026817234655795996 ], "error_norm_m": 0.00038045985331660947, "predicted_m": [ 0.5248556101884461, -0.2662373506130235, -0.027371008187954803 ], "observed_m": [ 0.5246936834016044, -0.26645325107210227, -0.027102835841396843 ] }, { "marker_id": 205, "link": "Board", "error_m": [ -5.4261058908045e-05, -5.994991647745307e-06, -0.00021311120901503319 ], "error_norm_m": 0.00021999224951467727, "predicted_m": [ 0.7500306173198179, -0.08999780498649211, 0.00017326201004526934 ], "observed_m": [ 0.750084878378726, -0.08999180999484437, 0.0003863732190603025 ] }, { "marker_id": 206, "link": "Board", "error_m": [ 4.8733105621590056e-05, -0.000346425969343863, 6.245750766234852e-05 ], "error_norm_m": 0.000355368552467368, "predicted_m": [ 0.6500346462223981, -0.009992771544889912, 0.00019296713865010095 ], "observed_m": [ 0.6499859131167766, -0.009646345575546049, 0.00013050963098775242 ] }, { "marker_id": 207, "link": "Board", "error_m": [ -0.0006786351101717436, -0.00046269102430987474, 0.0005487680821694244 ], "error_norm_m": 0.0009878132438586981, "predicted_m": [ 0.7500346436191851, -0.009997805128462612, 0.0001707116759871985 ], "observed_m": [ 0.7507132787293569, -0.009535114104152738, -0.0003780564061822259 ] }, { "marker_id": 208, "link": "Board", "error_m": [ 3.578432393419595e-05, 6.858149437825867e-05, -4.216329862436521e-05 ], "error_norm_m": 8.810041408228449e-05, "predicted_m": [ 0.35003062773266974, -0.0899776706522013, 0.000262283860696879 ], "observed_m": [ 0.34999484340873555, -0.09004625214657956, 0.0003044471593212442 ] }, { "marker_id": 210, "link": "Board", "error_m": [ -0.00016294155071762406, -0.00028882604521902194, 0.00042781753114565593 ], "error_norm_m": 0.0005412931491370354, "predicted_m": [ 0.020034159335218682, -0.019961059950635584, 0.00033349534518364496 ], "observed_m": [ 0.020197100885936306, -0.019672233905416562, -9.432218596201098e-05 ] }, { "marker_id": 211, "link": "Board", "error_m": [ 0.00032815605053518326, -0.00023886690394715054, 0.00012606118144269305 ], "error_norm_m": 0.0004250120148547269, "predicted_m": [ 0.2500346566352498, -0.009972637210599107, 0.0002819889893017106 ], "observed_m": [ 0.24970650058471464, -0.009733770306651957, 0.00015592780785901754 ] }, { "marker_id": 214, "link": "Board", "error_m": [ 0.0003750371854425172, 0.00012105786845340027, -0.00028565269282148677 ], "error_norm_m": 0.0004867292459831158, "predicted_m": [ 0.35003465403203693, -0.00997767079417181, 0.00025973352663880814 ], "observed_m": [ 0.3496596168465944, -0.01009872866262521, 0.0005453862194602949 ] }, { "marker_id": 215, "link": "Board", "error_m": [ -1.2202406234340657e-05, -5.542088899646025e-05, -0.00013917581797249617 ], "error_norm_m": 0.00015030063859937268, "predicted_m": [ 0.25003063033588263, -0.0899726370686286, 0.00028453932335978144 ], "observed_m": [ 0.25004283274211697, -0.08991721617963214, 0.0004237151413322776 ] }, { "marker_id": 217, "link": "Board", "error_m": [ -0.00018966040088486125, -0.0003166973544106999, 0.0001074293097384231 ], "error_norm_m": 0.00038445980094857355, "predicted_m": [ 0.6500306199230309, -0.0899927714029194, 0.00019551747270817174 ], "observed_m": [ 0.6502202803239158, -0.0896760740485087, 8.808816296974863e-05 ] }, { "marker_id": 242, "link": "Arm1", "error_m": [ 7.090682397897785e-05, 0.035469324181482485, 0.005198799379627139 ], "error_norm_m": 0.03584836817288057, "predicted_m": [ 0.2899643681002224, 0.09072049282634856, 0.31281349745795345 ], "observed_m": [ 0.28989346127624344, 0.055251168644866074, 0.3076146980783263 ] }, { "marker_id": 243, "link": "Arm1", "error_m": [ -6.592048911135961e-05, 0.03982473139977476, 0.00017671791438311768 ], "error_norm_m": 0.03982517803847654, "predicted_m": [ 0.2899734710524485, 0.1280984718831597, 0.3452617115653582 ], "observed_m": [ 0.29003939154155983, 0.08827374048338495, 0.34508499365097506 ] } ], "stage_idx": 0, "num_active_links": 3 }, { "method": "deterministic_geometric_prefix", "active_links": [ "Board", "Base", "Arm1", "Ellbow" ], "active_observations": 49, "joint_updates": [ { "pass": 0, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.1798550866196676, "new": 0.17986115893120908, "info": { "reason": "weighted_projection", "used_markers": 5, "axis_world": [ 0.9999999739668706, -5.0335835726959856e-05, -0.00022255462662880155 ], "per_marker": [ { "marker_id": 242, "q_i": 0.17978712219210502, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.1799230510472302, "weight": 1.0 }, { "marker_id": 246, "q_i": 0.17979985946534174, "weight": 1.0 }, { "marker_id": 247, "q_i": 0.1798857068480513, "weight": 1.0 }, { "marker_id": 231, "q_i": 0.1799100551033173, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 1.641248000650461, "new": 1.7365981804643082, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 5, "axis_world": [ -0.9999999739668706, 5.0335835726959856e-05, 0.00022255462662880155 ], "axis_id": 0, "theta_rad": -1.404994473125485, "theta_alt_rad": 1.7365981804643082, "score_theta": 1.408958810317129, "score_theta_alt": 0.10409657987591506, "best_score": 0.10409657987591506, "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": 231, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": 0.0, "new": 3.072312926839464, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 3, "axis_world": [ -0.9999999739668706, 5.0335835726959856e-05, 0.00022255462662880155 ], "axis_id": 0, "theta_rad": 3.0723129268394636, "theta_alt_rad": -0.06927972675032912, "score_theta": 0.1081326626911601, "score_theta_alt": 0.23592162012276952, "best_score": 0.1081326626911601, "per_marker": [ { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 231, "weight": 1.0 } ] } } ] }, { "pass": 1, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.17986115893120908, "new": 0.1798611589314037, "info": { "reason": "weighted_projection", "used_markers": 5, "axis_world": [ 0.9999999739668706, -5.0335835726959856e-05, -0.00022255462662880155 ], "per_marker": [ { "marker_id": 242, "q_i": 0.179787122192105, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.17992305104723014, "weight": 1.0 }, { "marker_id": 246, "q_i": 0.1797998594657184, "weight": 1.0 }, { "marker_id": 247, "q_i": 0.179885706848271, "weight": 1.0 }, { "marker_id": 231, "q_i": 0.17991005510369396, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 1.7365981804643082, "new": 1.5834624463111622, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 5, "axis_world": [ -0.9999999739668706, 5.0335835726959856e-05, 0.00022255462662880155 ], "axis_id": 0, "theta_rad": -1.5581302072786307, "theta_alt_rad": 1.5834624463111622, "score_theta": 1.5021665979130625, "score_theta_alt": 0.05377041567040371, "best_score": 0.05377041567040371, "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": 231, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": 3.072312926839464, "new": -0.5397287231465722, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 3, "axis_world": [ -0.9999999739668706, 5.0335835726959856e-05, 0.00022255462662880155 ], "axis_id": 0, "theta_rad": 2.6018639304432214, "theta_alt_rad": -0.5397287231465722, "score_theta": 0.19292474677213567, "score_theta_alt": 0.12673141088594667, "best_score": 0.12673141088594667, "per_marker": [ { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 231, "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, 61, 62, 63, 64, 66, 68, 69, 72, 73, 74, 75, 77, 79, 81, 82, 83, 84, 85, 86, 92, 95, 96, 97, 102, 103, 105 ] }, "marker_stats": { "num_markers_used": 49, "mean_error_m": 0.005412240808224538, "rms_error_m": 0.01764706566328229, "median_error_m": 0.00027982072348928575, "worst_error_m": 0.07133518163109034 }, "marker_reports": [ { "marker_id": 46, "link": "Board", "error_m": [ -6.940884010531168e-05, 0.00013607725429981565, 6.0563275850050724e-05 ], "error_norm_m": 0.00016432442485592565, "predicted_m": [ 0.5367483428689593, 0.1854520510990232, -0.027388049416256513 ], "observed_m": [ 0.5368177517090647, 0.1853159738447234, -0.027448612692106564 ] }, { "marker_id": 47, "link": "Board", "error_m": [ -0.00013697226551262487, 0.00020230898875445158, -0.000147923646617424 ], "error_norm_m": 0.0002856076568985964, "predicted_m": [ 0.3442445937199319, -0.2865182594217256, -0.027330165768363855 ], "observed_m": [ 0.3443815659854445, -0.28672056841048005, -0.02718224212174643 ] }, { "marker_id": 51, "link": "Board", "error_m": [ 0.0001862196521308368, -9.067416213653923e-05, 0.00010579994865413458 ], "error_norm_m": 0.0002325794308491419, "predicted_m": [ 0.16782035894060007, -0.1720493788733526, -0.02729454934604128 ], "observed_m": [ 0.16763413928846924, -0.17195870471121605, -0.027400349294695415 ] }, { "marker_id": 52, "link": "Board", "error_m": [ -0.00023726174153268498, 0.00036031761699248377, -0.0004126150008007222 ], "error_norm_m": 0.0005969698970601825, "predicted_m": [ 0.09471952300933281, 0.20869430100728273, -0.027290413829108042 ], "observed_m": [ 0.0949567847508655, 0.20833398339029024, -0.02687779882830732 ] }, { "marker_id": 53, "link": "Board", "error_m": [ 2.2149115954217535e-05, 0.00015507791547791916, 6.330867188906325e-06 ], "error_norm_m": 0.00015677953656613986, "predicted_m": [ 0.48628969299282865, 0.2122545909977339, -0.027377673671706265 ], "observed_m": [ 0.48626754387687443, 0.21209951308225597, -0.02738400453889517 ] }, { "marker_id": 54, "link": "Board", "error_m": [ -8.733483979123102e-05, 8.632832888988418e-06, -0.00021030112527834627 ], "error_norm_m": 0.00022787817652945155, "predicted_m": [ 0.3422823767898657, -0.3305681606853151, -0.02732832528360494 ], "observed_m": [ 0.34236971162965696, -0.33057679351820407, -0.027118024158326592 ] }, { "marker_id": 55, "link": "Board", "error_m": [ -2.2999180413041387e-05, 0.00014003997662043188, -8.108547781068148e-05 ], "error_norm_m": 0.00016344727609632792, "predicted_m": [ 0.28373580117179653, -0.2625552136428259, -0.027317462812956925 ], "observed_m": [ 0.2837588003522096, -0.26269525361944635, -0.027236377335146243 ] }, { "marker_id": 56, "link": "Board", "error_m": [ 2.191274963525558e-05, -9.199260231848583e-05, 4.1904291834076596e-05 ], "error_norm_m": 0.00010343489330018152, "predicted_m": [ 0.49871749984595637, 0.16868396540061648, -0.02737905105002889 ], "observed_m": [ 0.4986955870963211, 0.16877595800293496, -0.027420955341862965 ] }, { "marker_id": 58, "link": "Board", "error_m": [ 8.141076965966637e-05, -6.357932080286455e-05, 6.209061089882881e-05 ], "error_norm_m": 0.00012052090031244613, "predicted_m": [ 0.05010804537284361, -0.21807345376044288, -0.027266885042482116 ], "observed_m": [ 0.05002663460318394, -0.21800987443964, -0.027328975653380945 ] }, { "marker_id": 61, "link": "Board", "error_m": [ 8.542837521268928e-05, -0.00043567400799732203, 0.0003083482780012886 ], "error_norm_m": 0.0005405446411558351, "predicted_m": [ -0.022374073636173244, 0.3358701951079665, -0.02726840675710684 ], "observed_m": [ -0.022459502011385933, 0.33630586911596383, -0.02757675503510813 ] }, { "marker_id": 62, "link": "Board", "error_m": [ 4.5407920364837207e-05, 4.895657102457762e-05, 5.931060585763481e-05 ], "error_norm_m": 8.931054274576779e-05, "predicted_m": [ 0.4047202007807875, -0.1750813034274769, -0.027347176261979005 ], "observed_m": [ 0.4046747928604227, -0.1751302599985015, -0.02740648686783664 ] }, { "marker_id": 63, "link": "Board", "error_m": [ 3.6704777281126866e-05, 7.941394034063909e-05, 0.0002109390199994711 ], "error_norm_m": 0.00022836174100321834, "predicted_m": [ 0.7774171185089083, -0.23615006348511114, -0.027428176147645575 ], "observed_m": [ 0.7773804137316271, -0.23622947742545178, -0.027639115167645046 ] }, { "marker_id": 64, "link": "Board", "error_m": [ 5.157993376796177e-06, -0.0001716649447987273, -7.291639587968246e-05 ], "error_norm_m": 0.00018658043562096141, "predicted_m": [ -0.02125044894668999, -0.18818986184823136, -0.027251956094096558 ], "observed_m": [ -0.021255606940066785, -0.18801819690343263, -0.027179039698216875 ] }, { "marker_id": 66, "link": "Board", "error_m": [ -0.00011202599842652372, 0.00018688635795727215, -2.279822345346849e-05 ], "error_norm_m": 0.00021908010887944034, "predicted_m": [ 0.20976073750950172, -0.3632014901224406, -0.027297791808188365 ], "observed_m": [ 0.20987276350792824, -0.36338837648039785, -0.027274993584734897 ] }, { "marker_id": 68, "link": "Board", "error_m": [ 2.4393455366644723e-05, 0.00016909732600073335, -4.854754762518426e-05 ], "error_norm_m": 0.0001776114036478016, "predicted_m": [ 0.573767597039867, 0.17065018769264914, -0.027395816576733574 ], "observed_m": [ 0.5737432035845004, 0.1704810903666484, -0.02734726902910839 ] }, { "marker_id": 69, "link": "Board", "error_m": [ 6.912932255235919e-05, -6.206971020650265e-05, 0.00020648215640911571 ], "error_norm_m": 0.00022642083180888164, "predicted_m": [ 0.00762487073506257, -0.28117131538216195, -0.02725541934595461 ], "observed_m": [ 0.00755574141251021, -0.28110924567195544, -0.027461901502363727 ] }, { "marker_id": 72, "link": "Board", "error_m": [ 0.0004142921738053973, 0.00035997634678844315, -0.0004249132479705875 ], "error_norm_m": 0.0006940981514342688, "predicted_m": [ 0.4410287922799845, 0.19433686922946028, -0.02736702957447603 ], "observed_m": [ 0.4406145001061791, 0.19397689288267184, -0.026942116326505443 ] }, { "marker_id": 73, "link": "Board", "error_m": [ 1.2637196091569436e-05, 0.00013394327410032325, -0.00022530555666035526 ], "error_norm_m": 0.00026241778381772007, "predicted_m": [ 0.2217757831139039, 0.33313790561850076, -0.027322656757840347 ], "observed_m": [ 0.22176314591781232, 0.33300396234440044, -0.02709735120117999 ] }, { "marker_id": 74, "link": "Board", "error_m": [ -3.9146421010188837e-05, 4.586103983236778e-05, -0.00010551528520611614 ], "error_norm_m": 0.00012152840270710798, "predicted_m": [ 0.09381629394066922, 0.1445343464233952, -0.027288168162029502 ], "observed_m": [ 0.09385544036167941, 0.14448848538356282, -0.027182652876823386 ] }, { "marker_id": 75, "link": "Board", "error_m": [ 0.00010281631501389901, 0.00017859617242993453, 3.8758262874045296e-05 ], "error_norm_m": 0.00020969022480953617, "predicted_m": [ -0.025661182485608103, 0.1946203604601743, -0.02726317384436022 ], "observed_m": [ -0.025763998800622002, 0.19444176428774437, -0.027301932107234264 ] }, { "marker_id": 77, "link": "Board", "error_m": [ 5.945643794059985e-05, 0.00016824192554207307, -0.00020451492108272337 ], "error_norm_m": 0.0002714162236642486, "predicted_m": [ 0.018228664882328053, 0.1916081512256859, -0.027272845810604032 ], "observed_m": [ 0.018169208444387453, 0.19143990930014382, -0.02706833088952131 ] }, { "marker_id": 79, "link": "Board", "error_m": [ -0.0003535975388652135, -0.0003690267557460991, -1.5750856311263356e-05 ], "error_norm_m": 0.0005113316491501043, "predicted_m": [ 0.31232100794274237, -0.1590866524246321, -0.02732712196249834 ], "observed_m": [ 0.3126746054816076, -0.158717625668886, -0.027311371106187077 ] }, { "marker_id": 81, "link": "Board", "error_m": [ 0.00013539796217862388, -8.149109815261402e-05, 0.00018254475267341988 ], "error_norm_m": 0.00024144563356756543, "predicted_m": [ 0.1321775275061202, 0.16906241549720502, -0.027297487353687547 ], "observed_m": [ 0.13204212954394157, 0.16914390659535763, -0.027480032106360967 ] }, { "marker_id": 82, "link": "Board", "error_m": [ -5.415094073515925e-05, -0.00019778252975627408, 0.00040883282032982277 ], "error_norm_m": 0.00045737788363467175, "predicted_m": [ 0.21920397788882767, 0.29726803504525456, -0.02732094128641662 ], "observed_m": [ 0.21925812882956283, 0.29746581757501084, -0.027729774106746444 ] }, { "marker_id": 83, "link": "Board", "error_m": [ -7.235981519165824e-06, -0.00011949652591858317, 0.00014255053952747995 ], "error_norm_m": 0.0001861516463927514, "predicted_m": [ 0.044206095245043264, 0.3392568437420078, -0.02728333251455351 ], "observed_m": [ 0.04421333122656243, 0.3393763402679264, -0.02742588305408099 ] }, { "marker_id": 84, "link": "Board", "error_m": [ 0.00010561019811033967, 6.554271453151905e-05, -6.939417906787551e-05 ], "error_norm_m": 0.0001423548856259235, "predicted_m": [ 0.40753201922442883, 0.2584385553662033, -0.027361617449647983 ], "observed_m": [ 0.4074264090263185, 0.2583730126516718, -0.027292223270580108 ] }, { "marker_id": 85, "link": "Board", "error_m": [ 0.0001829567481470562, -0.00014475142311420885, 0.00013898942594064642 ], "error_norm_m": 0.0002715588457580502, "predicted_m": [ 0.5045932704293496, -0.31273633072647133, -0.027365016849548045 ], "observed_m": [ 0.5044103136812026, -0.3125915793033571, -0.027504006275488692 ] }, { "marker_id": 86, "link": "Board", "error_m": [ -0.0003553165299956529, 0.00042361775325344686, -0.0003659103276084791 ], "error_norm_m": 0.0006630174999275617, "predicted_m": [ 0.3629337109279086, 0.29203080028486683, -0.027352762334812965 ], "observed_m": [ 0.36328902745790426, 0.2916071825316134, -0.026986852007204486 ] }, { "marker_id": 92, "link": "Board", "error_m": [ -0.0003063712452819889, 0.00025284694788885176, -0.0001769888547842914 ], "error_norm_m": 0.00043487926337111007, "predicted_m": [ 0.645109704320976, -0.18483340364174242, -0.027400365665502784 ], "observed_m": [ 0.645416075566258, -0.18508625058963127, -0.027223376810718493 ] }, { "marker_id": 95, "link": "Board", "error_m": [ 0.00018881189493683004, 0.00019160803643775148, -7.704586943438341e-05 ], "error_norm_m": 0.00027982072348928575, "predicted_m": [ 0.18605522543736824, -0.27404029681800157, -0.027295357385298712 ], "observed_m": [ 0.1858664135424314, -0.2742319048544393, -0.02721831151586433 ] }, { "marker_id": 96, "link": "Board", "error_m": [ 0.0003500080736829059, -0.00011060413867314267, -5.8197357783524445e-05 ], "error_norm_m": 0.00037165287512385775, "predicted_m": [ 0.3697896284457174, -0.18646954517652192, -0.027339039325059333 ], "observed_m": [ 0.3694396203720345, -0.18635894103784878, -0.027280841967275808 ] }, { "marker_id": 97, "link": "Board", "error_m": [ 0.0002026478605312021, 0.00012255060958155095, -0.00021837867758689108 ], "error_norm_m": 0.0003221398052263685, "predicted_m": [ 0.30436091421718414, -0.3596462518988181, -0.027318958965733053 ], "observed_m": [ 0.30415826635665294, -0.35976880250839965, -0.027100580288146162 ] }, { "marker_id": 102, "link": "Board", "error_m": [ -0.00014814168053312038, -0.00019855261424012172, 0.00039011536098369076 ], "error_norm_m": 0.0004621245427459994, "predicted_m": [ 0.64970778365643, -0.22299363511886683, -0.02740017290743958 ], "observed_m": [ 0.6498559253369631, -0.2227950825046267, -0.02779028826842327 ] }, { "marker_id": 103, "link": "Board", "error_m": [ -0.00025452271371115276, 1.7149589082499084e-05, 0.00025028408677256475 ], "error_norm_m": 0.00035737661408123043, "predicted_m": [ 0.10572957391869611, -0.1876762534935748, -0.027280232657757288 ], "observed_m": [ 0.10598409663240727, -0.1876934030826573, -0.027530516744529852 ] }, { "marker_id": 105, "link": "Board", "error_m": [ 0.00016192678684168182, 0.0002159004590787661, -0.00026817234655795996 ], "error_norm_m": 0.00038045985331660947, "predicted_m": [ 0.5248556101884461, -0.2662373506130235, -0.027371008187954803 ], "observed_m": [ 0.5246936834016044, -0.26645325107210227, -0.027102835841396843 ] }, { "marker_id": 205, "link": "Board", "error_m": [ -5.4261058908045e-05, -5.994991647745307e-06, -0.00021311120901503319 ], "error_norm_m": 0.00021999224951467727, "predicted_m": [ 0.7500306173198179, -0.08999780498649211, 0.00017326201004526934 ], "observed_m": [ 0.750084878378726, -0.08999180999484437, 0.0003863732190603025 ] }, { "marker_id": 206, "link": "Board", "error_m": [ 4.8733105621590056e-05, -0.000346425969343863, 6.245750766234852e-05 ], "error_norm_m": 0.000355368552467368, "predicted_m": [ 0.6500346462223981, -0.009992771544889912, 0.00019296713865010095 ], "observed_m": [ 0.6499859131167766, -0.009646345575546049, 0.00013050963098775242 ] }, { "marker_id": 207, "link": "Board", "error_m": [ -0.0006786351101717436, -0.00046269102430987474, 0.0005487680821694244 ], "error_norm_m": 0.0009878132438586981, "predicted_m": [ 0.7500346436191851, -0.009997805128462612, 0.0001707116759871985 ], "observed_m": [ 0.7507132787293569, -0.009535114104152738, -0.0003780564061822259 ] }, { "marker_id": 208, "link": "Board", "error_m": [ 3.578432393419595e-05, 6.858149437825867e-05, -4.216329862436521e-05 ], "error_norm_m": 8.810041408228449e-05, "predicted_m": [ 0.35003062773266974, -0.0899776706522013, 0.000262283860696879 ], "observed_m": [ 0.34999484340873555, -0.09004625214657956, 0.0003044471593212442 ] }, { "marker_id": 210, "link": "Board", "error_m": [ -0.00016294155071762406, -0.00028882604521902194, 0.00042781753114565593 ], "error_norm_m": 0.0005412931491370354, "predicted_m": [ 0.020034159335218682, -0.019961059950635584, 0.00033349534518364496 ], "observed_m": [ 0.020197100885936306, -0.019672233905416562, -9.432218596201098e-05 ] }, { "marker_id": 211, "link": "Board", "error_m": [ 0.00032815605053518326, -0.00023886690394715054, 0.00012606118144269305 ], "error_norm_m": 0.0004250120148547269, "predicted_m": [ 0.2500346566352498, -0.009972637210599107, 0.0002819889893017106 ], "observed_m": [ 0.24970650058471464, -0.009733770306651957, 0.00015592780785901754 ] }, { "marker_id": 214, "link": "Board", "error_m": [ 0.0003750371854425172, 0.00012105786845340027, -0.00028565269282148677 ], "error_norm_m": 0.0004867292459831158, "predicted_m": [ 0.35003465403203693, -0.00997767079417181, 0.00025973352663880814 ], "observed_m": [ 0.3496596168465944, -0.01009872866262521, 0.0005453862194602949 ] }, { "marker_id": 215, "link": "Board", "error_m": [ -1.2202406234340657e-05, -5.542088899646025e-05, -0.00013917581797249617 ], "error_norm_m": 0.00015030063859937268, "predicted_m": [ 0.25003063033588263, -0.0899726370686286, 0.00028453932335978144 ], "observed_m": [ 0.25004283274211697, -0.08991721617963214, 0.0004237151413322776 ] }, { "marker_id": 217, "link": "Board", "error_m": [ -0.00018966040088486125, -0.0003166973544106999, 0.0001074293097384231 ], "error_norm_m": 0.00038445980094857355, "predicted_m": [ 0.6500306199230309, -0.0899927714029194, 0.00019551747270817174 ], "observed_m": [ 0.6502202803239158, -0.0896760740485087, 8.808816296974863e-05 ] }, { "marker_id": 231, "link": "Ellbow", "error_m": [ -5.593405018455844e-05, 0.047804392941404, -0.04243520187825328 ], "error_norm_m": 0.06392190134501818, "predicted_m": [ 0.37997076714819367, 0.14503719195662002, 0.30198611949524384 ], "observed_m": [ 0.3800267011983782, 0.09723279901521602, 0.3444213213734971 ] }, { "marker_id": 242, "link": "Arm1", "error_m": [ 7.593246024739653e-05, 0.020953355123891355, 0.0037789135322752188 ], "error_norm_m": 0.02129152517249143, "predicted_m": [ 0.28996939373649083, 0.07620452376875743, 0.31139361161060153 ], "observed_m": [ 0.28989346127624344, 0.055251168644866074, 0.3076146980783263 ] }, { "marker_id": 243, "link": "Arm1", "error_m": [ -6.052394598532462e-05, 0.023372379216877556, 0.0008613774452164713 ], "error_norm_m": 0.023388324961584897, "predicted_m": [ 0.2899788675955745, 0.1116461197002625, 0.34594637109619153 ], "observed_m": [ 0.29003939154155983, 0.08827374048338495, 0.34508499365097506 ] }, { "marker_id": 246, "link": "Ellbow", "error_m": [ 6.248040526990462e-05, 0.0705361181362571, -0.010647078134755517 ], "error_norm_m": 0.07133518163109034, "predicted_m": [ 0.3799764946245583, 0.14144782326160893, 0.32853308541539145 ], "observed_m": [ 0.3799140142192884, 0.07091170512535183, 0.33918016355014696 ] }, { "marker_id": 247, "link": "Ellbow", "error_m": [ -2.337050399209284e-05, 0.07046373128356116, -0.010646541956699895 ], "error_norm_m": 0.07126350277819737, "predicted_m": [ 0.34247649560084975, 0.1414497108554487, 0.32854143121389 ], "observed_m": [ 0.34249986610484184, 0.07098597957188753, 0.3391879731705899 ] } ], "stage_idx": 1, "num_active_links": 4 }, { "method": "deterministic_geometric_prefix", "active_links": [ "Board", "Base", "Arm1", "Ellbow", "Arm2" ], "active_observations": 53, "joint_updates": [ { "pass": 0, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.1798611589314037, "new": 0.18562496359663083, "info": { "reason": "weighted_projection", "used_markers": 9, "axis_world": [ 0.9999999739668706, -5.0335835726959856e-05, -0.00022255462662880155 ], "per_marker": [ { "marker_id": 242, "q_i": 0.17978712219210502, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.1799230510472302, "weight": 1.0 }, { "marker_id": 246, "q_i": 0.17979985946535698, "weight": 1.0 }, { "marker_id": 247, "q_i": 0.1798857068480602, "weight": 1.0 }, { "marker_id": 231, "q_i": 0.17991005510333252, "weight": 1.0 }, { "marker_id": 122, "q_i": 0.19727156652060449, "weight": 1.0 }, { "marker_id": 113, "q_i": 0.2062254798814067, "weight": 1.0 }, { "marker_id": 115, "q_i": 0.17060212079478254, "weight": 1.0 }, { "marker_id": 124, "q_i": 0.1972197105167988, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 1.5834624463111622, "new": 1.9590002478929653, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 9, "axis_world": [ -0.9999999739668706, 5.0335835726959856e-05, 0.00022255462662880155 ], "axis_id": 0, "theta_rad": -1.182592405696828, "theta_alt_rad": 1.9590002478929653, "score_theta": 2.749173120478282, "score_theta_alt": 0.6567791671139679, "best_score": 0.6567791671139679, "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": 231, "weight": 1.0 }, { "marker_id": 122, "weight": 1.0 }, { "marker_id": 113, "weight": 1.0 }, { "marker_id": 115, "weight": 1.0 }, { "marker_id": 124, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": -0.5397287231465722, "new": -0.8748776410603316, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 7, "axis_world": [ -0.9999999739668706, 5.0335835726959856e-05, 0.00022255462662880155 ], "axis_id": 0, "theta_rad": 2.2667150125294615, "theta_alt_rad": -0.8748776410603316, "score_theta": 0.7489777483648864, "score_theta_alt": 0.5408422798254753, "best_score": 0.5408422798254753, "per_marker": [ { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 231, "weight": 1.0 }, { "marker_id": 122, "weight": 1.0 }, { "marker_id": 113, "weight": 1.0 }, { "marker_id": 115, "weight": 1.0 }, { "marker_id": 124, "weight": 1.0 } ] } }, { "link": "Arm2", "joint_variable": "a", "joint_type": "revolute", "old": 0.0, "new": 1.4987691054474812, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 4, "axis_world": [ 0.0001731778163655446, -0.4676602351528872, 0.8839082952796575 ], "axis_id": 2, "theta_rad": 1.4987691054474808, "theta_alt_rad": -1.642823548142312, "score_theta": 0.3812471568959373, "score_theta_alt": 0.513086299109796, "best_score": 0.3812471568959373, "per_marker": [ { "marker_id": 122, "weight": 1.0 }, { "marker_id": 113, "weight": 1.0 }, { "marker_id": 115, "weight": 1.0 }, { "marker_id": 124, "weight": 1.0 } ] } } ] }, { "pass": 1, "updates": [ { "link": "Base", "joint_variable": "x", "joint_type": "linear", "old": 0.18562496359663083, "new": 0.17643663775809057, "info": { "reason": "weighted_projection", "used_markers": 9, "axis_world": [ 0.9999999739668706, -5.0335835726959856e-05, -0.00022255462662880155 ], "per_marker": [ { "marker_id": 242, "q_i": 0.179787122192105, "weight": 1.0 }, { "marker_id": 243, "q_i": 0.17992305104723014, "weight": 1.0 }, { "marker_id": 246, "q_i": 0.1797998594654618, "weight": 1.0 }, { "marker_id": 247, "q_i": 0.17988570684812133, "weight": 1.0 }, { "marker_id": 231, "q_i": 0.1799100551034374, "weight": 1.0 }, { "marker_id": 122, "q_i": 0.16479034008286778, "weight": 1.0 }, { "marker_id": 113, "q_i": 0.23614769470945524, "weight": 1.0 }, { "marker_id": 115, "q_i": 0.1229474262950744, "weight": 1.0 }, { "marker_id": 124, "q_i": 0.16473848407906208, "weight": 1.0 } ] } }, { "link": "Arm1", "joint_variable": "y", "joint_type": "revolute", "old": 1.9590002478929653, "new": 1.8458890434692918, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 9, "axis_world": [ -0.9999999739668706, 5.0335835726959856e-05, 0.00022255462662880155 ], "axis_id": 0, "theta_rad": -1.2957036101205015, "theta_alt_rad": 1.8458890434692918, "score_theta": 2.8472829686836856, "score_theta_alt": 0.37707843801799457, "best_score": 0.37707843801799457, "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": 231, "weight": 1.0 }, { "marker_id": 122, "weight": 1.0 }, { "marker_id": 113, "weight": 1.0 }, { "marker_id": 115, "weight": 1.0 }, { "marker_id": 124, "weight": 1.0 } ] } }, { "link": "Ellbow", "joint_variable": "z", "joint_type": "revolute", "old": -0.8748776410603316, "new": -1.0733099865513207, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 7, "axis_world": [ -0.9999999739668706, 5.0335835726959856e-05, 0.00022255462662880155 ], "axis_id": 0, "theta_rad": 2.068282667038472, "theta_alt_rad": -1.0733099865513207, "score_theta": 0.8564637061643594, "score_theta_alt": 0.3089602416039502, "best_score": 0.3089602416039502, "per_marker": [ { "marker_id": 246, "weight": 1.0 }, { "marker_id": 247, "weight": 1.0 }, { "marker_id": 231, "weight": 1.0 }, { "marker_id": 122, "weight": 1.0 }, { "marker_id": 113, "weight": 1.0 }, { "marker_id": 115, "weight": 1.0 }, { "marker_id": 124, "weight": 1.0 } ] } }, { "link": "Arm2", "joint_variable": "a", "joint_type": "revolute", "old": 1.4987691054474812, "new": 1.656255078355672, "info": { "reason": "2d_alignment+normal_tiebreak", "used_markers": 4, "axis_world": [ 0.00011929972724452717, -0.7160906669732894, 0.698007265319871 ], "axis_id": 1, "theta_rad": -1.485337575234121, "theta_alt_rad": 1.656255078355672, "score_theta": 0.37717150331804883, "score_theta_alt": 0.26281993264967785, "best_score": 0.26281993264967785, "per_marker": [ { "marker_id": 122, "weight": 1.0 }, { "marker_id": 113, "weight": 1.0 }, { "marker_id": 115, "weight": 1.0 }, { "marker_id": 124, "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, 61, 62, 63, 64, 66, 68, 69, 72, 73, 74, 75, 77, 79, 81, 82, 83, 84, 85, 86, 92, 95, 96, 97, 102, 103, 105 ] }, "marker_stats": { "num_markers_used": 53, "mean_error_m": 0.02665296397558117, "rms_error_m": 0.06848499009853817, "median_error_m": 0.0003221398052263685, "worst_error_m": 0.24240188772898802 }, "marker_reports": [ { "marker_id": 46, "link": "Board", "error_m": [ -6.940884010531168e-05, 0.00013607725429981565, 6.0563275850050724e-05 ], "error_norm_m": 0.00016432442485592565, "predicted_m": [ 0.5367483428689593, 0.1854520510990232, -0.027388049416256513 ], "observed_m": [ 0.5368177517090647, 0.1853159738447234, -0.027448612692106564 ] }, { "marker_id": 47, "link": "Board", "error_m": [ -0.00013697226551262487, 0.00020230898875445158, -0.000147923646617424 ], "error_norm_m": 0.0002856076568985964, "predicted_m": [ 0.3442445937199319, -0.2865182594217256, -0.027330165768363855 ], "observed_m": [ 0.3443815659854445, -0.28672056841048005, -0.02718224212174643 ] }, { "marker_id": 51, "link": "Board", "error_m": [ 0.0001862196521308368, -9.067416213653923e-05, 0.00010579994865413458 ], "error_norm_m": 0.0002325794308491419, "predicted_m": [ 0.16782035894060007, -0.1720493788733526, -0.02729454934604128 ], "observed_m": [ 0.16763413928846924, -0.17195870471121605, -0.027400349294695415 ] }, { "marker_id": 52, "link": "Board", "error_m": [ -0.00023726174153268498, 0.00036031761699248377, -0.0004126150008007222 ], "error_norm_m": 0.0005969698970601825, "predicted_m": [ 0.09471952300933281, 0.20869430100728273, -0.027290413829108042 ], "observed_m": [ 0.0949567847508655, 0.20833398339029024, -0.02687779882830732 ] }, { "marker_id": 53, "link": "Board", "error_m": [ 2.2149115954217535e-05, 0.00015507791547791916, 6.330867188906325e-06 ], "error_norm_m": 0.00015677953656613986, "predicted_m": [ 0.48628969299282865, 0.2122545909977339, -0.027377673671706265 ], "observed_m": [ 0.48626754387687443, 0.21209951308225597, -0.02738400453889517 ] }, { "marker_id": 54, "link": "Board", "error_m": [ -8.733483979123102e-05, 8.632832888988418e-06, -0.00021030112527834627 ], "error_norm_m": 0.00022787817652945155, "predicted_m": [ 0.3422823767898657, -0.3305681606853151, -0.02732832528360494 ], "observed_m": [ 0.34236971162965696, -0.33057679351820407, -0.027118024158326592 ] }, { "marker_id": 55, "link": "Board", "error_m": [ -2.2999180413041387e-05, 0.00014003997662043188, -8.108547781068148e-05 ], "error_norm_m": 0.00016344727609632792, "predicted_m": [ 0.28373580117179653, -0.2625552136428259, -0.027317462812956925 ], "observed_m": [ 0.2837588003522096, -0.26269525361944635, -0.027236377335146243 ] }, { "marker_id": 56, "link": "Board", "error_m": [ 2.191274963525558e-05, -9.199260231848583e-05, 4.1904291834076596e-05 ], "error_norm_m": 0.00010343489330018152, "predicted_m": [ 0.49871749984595637, 0.16868396540061648, -0.02737905105002889 ], "observed_m": [ 0.4986955870963211, 0.16877595800293496, -0.027420955341862965 ] }, { "marker_id": 58, "link": "Board", "error_m": [ 8.141076965966637e-05, -6.357932080286455e-05, 6.209061089882881e-05 ], "error_norm_m": 0.00012052090031244613, "predicted_m": [ 0.05010804537284361, -0.21807345376044288, -0.027266885042482116 ], "observed_m": [ 0.05002663460318394, -0.21800987443964, -0.027328975653380945 ] }, { "marker_id": 61, "link": "Board", "error_m": [ 8.542837521268928e-05, -0.00043567400799732203, 0.0003083482780012886 ], "error_norm_m": 0.0005405446411558351, "predicted_m": [ -0.022374073636173244, 0.3358701951079665, -0.02726840675710684 ], "observed_m": [ -0.022459502011385933, 0.33630586911596383, -0.02757675503510813 ] }, { "marker_id": 62, "link": "Board", "error_m": [ 4.5407920364837207e-05, 4.895657102457762e-05, 5.931060585763481e-05 ], "error_norm_m": 8.931054274576779e-05, "predicted_m": [ 0.4047202007807875, -0.1750813034274769, -0.027347176261979005 ], "observed_m": [ 0.4046747928604227, -0.1751302599985015, -0.02740648686783664 ] }, { "marker_id": 63, "link": "Board", "error_m": [ 3.6704777281126866e-05, 7.941394034063909e-05, 0.0002109390199994711 ], "error_norm_m": 0.00022836174100321834, "predicted_m": [ 0.7774171185089083, -0.23615006348511114, -0.027428176147645575 ], "observed_m": [ 0.7773804137316271, -0.23622947742545178, -0.027639115167645046 ] }, { "marker_id": 64, "link": "Board", "error_m": [ 5.157993376796177e-06, -0.0001716649447987273, -7.291639587968246e-05 ], "error_norm_m": 0.00018658043562096141, "predicted_m": [ -0.02125044894668999, -0.18818986184823136, -0.027251956094096558 ], "observed_m": [ -0.021255606940066785, -0.18801819690343263, -0.027179039698216875 ] }, { "marker_id": 66, "link": "Board", "error_m": [ -0.00011202599842652372, 0.00018688635795727215, -2.279822345346849e-05 ], "error_norm_m": 0.00021908010887944034, "predicted_m": [ 0.20976073750950172, -0.3632014901224406, -0.027297791808188365 ], "observed_m": [ 0.20987276350792824, -0.36338837648039785, -0.027274993584734897 ] }, { "marker_id": 68, "link": "Board", "error_m": [ 2.4393455366644723e-05, 0.00016909732600073335, -4.854754762518426e-05 ], "error_norm_m": 0.0001776114036478016, "predicted_m": [ 0.573767597039867, 0.17065018769264914, -0.027395816576733574 ], "observed_m": [ 0.5737432035845004, 0.1704810903666484, -0.02734726902910839 ] }, { "marker_id": 69, "link": "Board", "error_m": [ 6.912932255235919e-05, -6.206971020650265e-05, 0.00020648215640911571 ], "error_norm_m": 0.00022642083180888164, "predicted_m": [ 0.00762487073506257, -0.28117131538216195, -0.02725541934595461 ], "observed_m": [ 0.00755574141251021, -0.28110924567195544, -0.027461901502363727 ] }, { "marker_id": 72, "link": "Board", "error_m": [ 0.0004142921738053973, 0.00035997634678844315, -0.0004249132479705875 ], "error_norm_m": 0.0006940981514342688, "predicted_m": [ 0.4410287922799845, 0.19433686922946028, -0.02736702957447603 ], "observed_m": [ 0.4406145001061791, 0.19397689288267184, -0.026942116326505443 ] }, { "marker_id": 73, "link": "Board", "error_m": [ 1.2637196091569436e-05, 0.00013394327410032325, -0.00022530555666035526 ], "error_norm_m": 0.00026241778381772007, "predicted_m": [ 0.2217757831139039, 0.33313790561850076, -0.027322656757840347 ], "observed_m": [ 0.22176314591781232, 0.33300396234440044, -0.02709735120117999 ] }, { "marker_id": 74, "link": "Board", "error_m": [ -3.9146421010188837e-05, 4.586103983236778e-05, -0.00010551528520611614 ], "error_norm_m": 0.00012152840270710798, "predicted_m": [ 0.09381629394066922, 0.1445343464233952, -0.027288168162029502 ], "observed_m": [ 0.09385544036167941, 0.14448848538356282, -0.027182652876823386 ] }, { "marker_id": 75, "link": "Board", "error_m": [ 0.00010281631501389901, 0.00017859617242993453, 3.8758262874045296e-05 ], "error_norm_m": 0.00020969022480953617, "predicted_m": [ -0.025661182485608103, 0.1946203604601743, -0.02726317384436022 ], "observed_m": [ -0.025763998800622002, 0.19444176428774437, -0.027301932107234264 ] }, { "marker_id": 77, "link": "Board", "error_m": [ 5.945643794059985e-05, 0.00016824192554207307, -0.00020451492108272337 ], "error_norm_m": 0.0002714162236642486, "predicted_m": [ 0.018228664882328053, 0.1916081512256859, -0.027272845810604032 ], "observed_m": [ 0.018169208444387453, 0.19143990930014382, -0.02706833088952131 ] }, { "marker_id": 79, "link": "Board", "error_m": [ -0.0003535975388652135, -0.0003690267557460991, -1.5750856311263356e-05 ], "error_norm_m": 0.0005113316491501043, "predicted_m": [ 0.31232100794274237, -0.1590866524246321, -0.02732712196249834 ], "observed_m": [ 0.3126746054816076, -0.158717625668886, -0.027311371106187077 ] }, { "marker_id": 81, "link": "Board", "error_m": [ 0.00013539796217862388, -8.149109815261402e-05, 0.00018254475267341988 ], "error_norm_m": 0.00024144563356756543, "predicted_m": [ 0.1321775275061202, 0.16906241549720502, -0.027297487353687547 ], "observed_m": [ 0.13204212954394157, 0.16914390659535763, -0.027480032106360967 ] }, { "marker_id": 82, "link": "Board", "error_m": [ -5.415094073515925e-05, -0.00019778252975627408, 0.00040883282032982277 ], "error_norm_m": 0.00045737788363467175, "predicted_m": [ 0.21920397788882767, 0.29726803504525456, -0.02732094128641662 ], "observed_m": [ 0.21925812882956283, 0.29746581757501084, -0.027729774106746444 ] }, { "marker_id": 83, "link": "Board", "error_m": [ -7.235981519165824e-06, -0.00011949652591858317, 0.00014255053952747995 ], "error_norm_m": 0.0001861516463927514, "predicted_m": [ 0.044206095245043264, 0.3392568437420078, -0.02728333251455351 ], "observed_m": [ 0.04421333122656243, 0.3393763402679264, -0.02742588305408099 ] }, { "marker_id": 84, "link": "Board", "error_m": [ 0.00010561019811033967, 6.554271453151905e-05, -6.939417906787551e-05 ], "error_norm_m": 0.0001423548856259235, "predicted_m": [ 0.40753201922442883, 0.2584385553662033, -0.027361617449647983 ], "observed_m": [ 0.4074264090263185, 0.2583730126516718, -0.027292223270580108 ] }, { "marker_id": 85, "link": "Board", "error_m": [ 0.0001829567481470562, -0.00014475142311420885, 0.00013898942594064642 ], "error_norm_m": 0.0002715588457580502, "predicted_m": [ 0.5045932704293496, -0.31273633072647133, -0.027365016849548045 ], "observed_m": [ 0.5044103136812026, -0.3125915793033571, -0.027504006275488692 ] }, { "marker_id": 86, "link": "Board", "error_m": [ -0.0003553165299956529, 0.00042361775325344686, -0.0003659103276084791 ], "error_norm_m": 0.0006630174999275617, "predicted_m": [ 0.3629337109279086, 0.29203080028486683, -0.027352762334812965 ], "observed_m": [ 0.36328902745790426, 0.2916071825316134, -0.026986852007204486 ] }, { "marker_id": 92, "link": "Board", "error_m": [ -0.0003063712452819889, 0.00025284694788885176, -0.0001769888547842914 ], "error_norm_m": 0.00043487926337111007, "predicted_m": [ 0.645109704320976, -0.18483340364174242, -0.027400365665502784 ], "observed_m": [ 0.645416075566258, -0.18508625058963127, -0.027223376810718493 ] }, { "marker_id": 95, "link": "Board", "error_m": [ 0.00018881189493683004, 0.00019160803643775148, -7.704586943438341e-05 ], "error_norm_m": 0.00027982072348928575, "predicted_m": [ 0.18605522543736824, -0.27404029681800157, -0.027295357385298712 ], "observed_m": [ 0.1858664135424314, -0.2742319048544393, -0.02721831151586433 ] }, { "marker_id": 96, "link": "Board", "error_m": [ 0.0003500080736829059, -0.00011060413867314267, -5.8197357783524445e-05 ], "error_norm_m": 0.00037165287512385775, "predicted_m": [ 0.3697896284457174, -0.18646954517652192, -0.027339039325059333 ], "observed_m": [ 0.3694396203720345, -0.18635894103784878, -0.027280841967275808 ] }, { "marker_id": 97, "link": "Board", "error_m": [ 0.0002026478605312021, 0.00012255060958155095, -0.00021837867758689108 ], "error_norm_m": 0.0003221398052263685, "predicted_m": [ 0.30436091421718414, -0.3596462518988181, -0.027318958965733053 ], "observed_m": [ 0.30415826635665294, -0.35976880250839965, -0.027100580288146162 ] }, { "marker_id": 102, "link": "Board", "error_m": [ -0.00014814168053312038, -0.00019855261424012172, 0.00039011536098369076 ], "error_norm_m": 0.0004621245427459994, "predicted_m": [ 0.64970778365643, -0.22299363511886683, -0.02740017290743958 ], "observed_m": [ 0.6498559253369631, -0.2227950825046267, -0.02779028826842327 ] }, { "marker_id": 103, "link": "Board", "error_m": [ -0.00025452271371115276, 1.7149589082499084e-05, 0.00025028408677256475 ], "error_norm_m": 0.00035737661408123043, "predicted_m": [ 0.10572957391869611, -0.1876762534935748, -0.027280232657757288 ], "observed_m": [ 0.10598409663240727, -0.1876934030826573, -0.027530516744529852 ] }, { "marker_id": 105, "link": "Board", "error_m": [ 0.00016192678684168182, 0.0002159004590787661, -0.00026817234655795996 ], "error_norm_m": 0.00038045985331660947, "predicted_m": [ 0.5248556101884461, -0.2662373506130235, -0.027371008187954803 ], "observed_m": [ 0.5246936834016044, -0.26645325107210227, -0.027102835841396843 ] }, { "marker_id": 113, "link": "Arm2", "error_m": [ -0.05962781252050614, 0.11276800844106168, 0.2061227193223322 ], "error_norm_m": 0.24240188772898802, "predicted_m": [ 0.34667840045468484, 0.043825297833157056, 0.42675824184574285 ], "observed_m": [ 0.406306212975191, -0.06894271060790462, 0.22063552252341065 ] }, { "marker_id": 115, "link": "Arm2", "error_m": [ 0.05740528195180067, 0.09512665942292654, 0.1966562833953476 ], "error_norm_m": 0.22587195825910408, "predicted_m": [ 0.4033372386534436, 0.02987172029021534, 0.41243348259162577 ], "observed_m": [ 0.34593195670164295, -0.0652549391327112, 0.21577719919627816 ] }, { "marker_id": 122, "link": "Arm2", "error_m": [ 0.017175313745953602, 0.09046894916432408, 0.08209809456037132 ], "error_norm_m": 0.12336822644268121, "predicted_m": [ 0.3795416994768205, 0.07139623771130262, 0.3547523611722594 ], "observed_m": [ 0.3623663857308669, -0.019072711453021453, 0.2726542666118881 ] }, { "marker_id": 124, "link": "Arm2", "error_m": [ 0.017257754739211983, 0.10290205591387569, 0.21671293920058812 ], "error_norm_m": 0.24052268339368535, "predicted_m": [ 0.3795544645476356, -0.005225463654619542, 0.4294391385612713 ], "observed_m": [ 0.3622967098084236, -0.10812751956849523, 0.21272619936068318 ] }, { "marker_id": 205, "link": "Board", "error_m": [ -5.4261058908045e-05, -5.994991647745307e-06, -0.00021311120901503319 ], "error_norm_m": 0.00021999224951467727, "predicted_m": [ 0.7500306173198179, -0.08999780498649211, 0.00017326201004526934 ], "observed_m": [ 0.750084878378726, -0.08999180999484437, 0.0003863732190603025 ] }, { "marker_id": 206, "link": "Board", "error_m": [ 4.8733105621590056e-05, -0.000346425969343863, 6.245750766234852e-05 ], "error_norm_m": 0.000355368552467368, "predicted_m": [ 0.6500346462223981, -0.009992771544889912, 0.00019296713865010095 ], "observed_m": [ 0.6499859131167766, -0.009646345575546049, 0.00013050963098775242 ] }, { "marker_id": 207, "link": "Board", "error_m": [ -0.0006786351101717436, -0.00046269102430987474, 0.0005487680821694244 ], "error_norm_m": 0.0009878132438586981, "predicted_m": [ 0.7500346436191851, -0.009997805128462612, 0.0001707116759871985 ], "observed_m": [ 0.7507132787293569, -0.009535114104152738, -0.0003780564061822259 ] }, { "marker_id": 208, "link": "Board", "error_m": [ 3.578432393419595e-05, 6.858149437825867e-05, -4.216329862436521e-05 ], "error_norm_m": 8.810041408228449e-05, "predicted_m": [ 0.35003062773266974, -0.0899776706522013, 0.000262283860696879 ], "observed_m": [ 0.34999484340873555, -0.09004625214657956, 0.0003044471593212442 ] }, { "marker_id": 210, "link": "Board", "error_m": [ -0.00016294155071762406, -0.00028882604521902194, 0.00042781753114565593 ], "error_norm_m": 0.0005412931491370354, "predicted_m": [ 0.020034159335218682, -0.019961059950635584, 0.00033349534518364496 ], "observed_m": [ 0.020197100885936306, -0.019672233905416562, -9.432218596201098e-05 ] }, { "marker_id": 211, "link": "Board", "error_m": [ 0.00032815605053518326, -0.00023886690394715054, 0.00012606118144269305 ], "error_norm_m": 0.0004250120148547269, "predicted_m": [ 0.2500346566352498, -0.009972637210599107, 0.0002819889893017106 ], "observed_m": [ 0.24970650058471464, -0.009733770306651957, 0.00015592780785901754 ] }, { "marker_id": 214, "link": "Board", "error_m": [ 0.0003750371854425172, 0.00012105786845340027, -0.00028565269282148677 ], "error_norm_m": 0.0004867292459831158, "predicted_m": [ 0.35003465403203693, -0.00997767079417181, 0.00025973352663880814 ], "observed_m": [ 0.3496596168465944, -0.01009872866262521, 0.0005453862194602949 ] }, { "marker_id": 215, "link": "Board", "error_m": [ -1.2202406234340657e-05, -5.542088899646025e-05, -0.00013917581797249617 ], "error_norm_m": 0.00015030063859937268, "predicted_m": [ 0.25003063033588263, -0.0899726370686286, 0.00028453932335978144 ], "observed_m": [ 0.25004283274211697, -0.08991721617963214, 0.0004237151413322776 ] }, { "marker_id": 217, "link": "Board", "error_m": [ -0.00018966040088486125, -0.0003166973544106999, 0.0001074293097384231 ], "error_norm_m": 0.00038445980094857355, "predicted_m": [ 0.6500306199230309, -0.0899927714029194, 0.00019551747270817174 ], "observed_m": [ 0.6502202803239158, -0.0896760740485087, 8.808816296974863e-05 ] }, { "marker_id": 231, "link": "Ellbow", "error_m": [ -0.003477136027940808, 0.11370576716589968, -0.04242583796346516 ], "error_norm_m": 0.121412699865561, "predicted_m": [ 0.3765495651704374, 0.2109385661811157, 0.30199548341003196 ], "observed_m": [ 0.3800267011983782, 0.09723279901521602, 0.3444213213734971 ] }, { "marker_id": 242, "link": "Arm1", "error_m": [ -0.00334533444218843, 0.08700930618724673, 0.003461591147909282 ], "error_norm_m": 0.08714237338397106, "predicted_m": [ 0.286548126834055, 0.1422604748321128, 0.3110762892262356 ], "observed_m": [ 0.28989346127624344, 0.055251168644866074, 0.3076146980783263 ] }, { "marker_id": 243, "link": "Arm1", "error_m": [ -0.003483710262448314, 0.09717877121812808, -0.009833347260920833 ], "error_norm_m": 0.09773711951460318, "predicted_m": [ 0.2865556812791115, 0.18545251170151303, 0.3352516463900542 ], "observed_m": [ 0.29003939154155983, 0.08827374048338495, 0.34508499365097506 ] }, { "marker_id": 246, "link": "Ellbow", "error_m": [ -0.003359502713883522, 0.12945819160360694, -0.012569071239614982 ], "error_norm_m": 0.13011030391013356, "predicted_m": [ 0.37655451150540487, 0.20036989672895877, 0.326611092310532 ], "observed_m": [ 0.3799140142192884, 0.07091170512535183, 0.33918016355014696 ] }, { "marker_id": 247, "link": "Ellbow", "error_m": [ -0.003445353623097558, 0.129385804750911, -0.01256853506155936 ], "error_norm_m": 0.13004047449245446, "predicted_m": [ 0.3390545124817443, 0.20037178432279854, 0.32661943810903055 ], "observed_m": [ 0.34249986610484184, 0.07098597957188753, 0.3391879731705899 ] } ], "stage_idx": 2, "num_active_links": 5 } ], "markers": [ { "marker_id": 41, "link": "FingerA", "observed_position_m": [ 0.36687279654649646, -0.16269108332749885, 0.16630561261260557 ], "predicted_position_m": [ 0.3504073076703617, -0.027432368792196883, 0.5043686161393954 ], "error_m": [ -0.01646548887613475, 0.13525871453530197, 0.33806300352678986 ], "error_norm_m": 0.3644895424223125 }, { "marker_id": 42, "link": "FingerA", "observed_position_m": [ 0.3782391436170156, -0.18286261422073177, 0.12502205960840154 ], "predicted_position_m": [ 0.37506209486301967, -0.04434101403619163, 0.5411718657850411 ], "error_m": [ -0.003177048753995937, 0.13852160018454013, 0.41614980617663955 ], "error_norm_m": 0.43861029232944987 }, { "marker_id": 43, "link": "FingerB", "observed_position_m": [ 0.33126928798298777, -0.14924650220821273, 0.13810406767612168 ], "predicted_position_m": [ 0.360909263945416, -0.05747773286472215, 0.5047748330017584 ], "error_m": [ 0.029639975962428233, 0.09176876934349057, 0.3666707653256367 ], "error_norm_m": 0.37914045596105966 }, { "marker_id": 46, "link": "Board", "observed_position_m": [ 0.5368177517090647, 0.1853159738447234, -0.027448612692106564 ], "predicted_position_m": [ 0.5367483428689593, 0.1854520510990232, -0.027388049416256513 ], "error_m": [ -6.940884010531168e-05, 0.00013607725429981565, 6.0563275850050724e-05 ], "error_norm_m": 0.00016432442485592565 }, { "marker_id": 47, "link": "Board", "observed_position_m": [ 0.3443815659854445, -0.28672056841048005, -0.02718224212174643 ], "predicted_position_m": [ 0.3442445937199319, -0.2865182594217256, -0.027330165768363855 ], "error_m": [ -0.00013697226551262487, 0.00020230898875445158, -0.000147923646617424 ], "error_norm_m": 0.0002856076568985964 }, { "marker_id": 51, "link": "Board", "observed_position_m": [ 0.16763413928846924, -0.17195870471121605, -0.027400349294695415 ], "predicted_position_m": [ 0.16782035894060007, -0.1720493788733526, -0.02729454934604128 ], "error_m": [ 0.0001862196521308368, -9.067416213653923e-05, 0.00010579994865413458 ], "error_norm_m": 0.0002325794308491419 }, { "marker_id": 52, "link": "Board", "observed_position_m": [ 0.0949567847508655, 0.20833398339029024, -0.02687779882830732 ], "predicted_position_m": [ 0.09471952300933281, 0.20869430100728273, -0.027290413829108042 ], "error_m": [ -0.00023726174153268498, 0.00036031761699248377, -0.0004126150008007222 ], "error_norm_m": 0.0005969698970601825 }, { "marker_id": 53, "link": "Board", "observed_position_m": [ 0.48626754387687443, 0.21209951308225597, -0.02738400453889517 ], "predicted_position_m": [ 0.48628969299282865, 0.2122545909977339, -0.027377673671706265 ], "error_m": [ 2.2149115954217535e-05, 0.00015507791547791916, 6.330867188906325e-06 ], "error_norm_m": 0.00015677953656613986 }, { "marker_id": 54, "link": "Board", "observed_position_m": [ 0.34236971162965696, -0.33057679351820407, -0.027118024158326592 ], "predicted_position_m": [ 0.3422823767898657, -0.3305681606853151, -0.02732832528360494 ], "error_m": [ -8.733483979123102e-05, 8.632832888988418e-06, -0.00021030112527834627 ], "error_norm_m": 0.00022787817652945155 }, { "marker_id": 55, "link": "Board", "observed_position_m": [ 0.2837588003522096, -0.26269525361944635, -0.027236377335146243 ], "predicted_position_m": [ 0.28373580117179653, -0.2625552136428259, -0.027317462812956925 ], "error_m": [ -2.2999180413041387e-05, 0.00014003997662043188, -8.108547781068148e-05 ], "error_norm_m": 0.00016344727609632792 }, { "marker_id": 56, "link": "Board", "observed_position_m": [ 0.4986955870963211, 0.16877595800293496, -0.027420955341862965 ], "predicted_position_m": [ 0.49871749984595637, 0.16868396540061648, -0.02737905105002889 ], "error_m": [ 2.191274963525558e-05, -9.199260231848583e-05, 4.1904291834076596e-05 ], "error_norm_m": 0.00010343489330018152 }, { "marker_id": 58, "link": "Board", "observed_position_m": [ 0.05002663460318394, -0.21800987443964, -0.027328975653380945 ], "predicted_position_m": [ 0.05010804537284361, -0.21807345376044288, -0.027266885042482116 ], "error_m": [ 8.141076965966637e-05, -6.357932080286455e-05, 6.209061089882881e-05 ], "error_norm_m": 0.00012052090031244613 }, { "marker_id": 61, "link": "Board", "observed_position_m": [ -0.022459502011385933, 0.33630586911596383, -0.02757675503510813 ], "predicted_position_m": [ -0.022374073636173244, 0.3358701951079665, -0.02726840675710684 ], "error_m": [ 8.542837521268928e-05, -0.00043567400799732203, 0.0003083482780012886 ], "error_norm_m": 0.0005405446411558351 }, { "marker_id": 62, "link": "Board", "observed_position_m": [ 0.4046747928604227, -0.1751302599985015, -0.02740648686783664 ], "predicted_position_m": [ 0.4047202007807875, -0.1750813034274769, -0.027347176261979005 ], "error_m": [ 4.5407920364837207e-05, 4.895657102457762e-05, 5.931060585763481e-05 ], "error_norm_m": 8.931054274576779e-05 }, { "marker_id": 63, "link": "Board", "observed_position_m": [ 0.7773804137316271, -0.23622947742545178, -0.027639115167645046 ], "predicted_position_m": [ 0.7774171185089083, -0.23615006348511114, -0.027428176147645575 ], "error_m": [ 3.6704777281126866e-05, 7.941394034063909e-05, 0.0002109390199994711 ], "error_norm_m": 0.00022836174100321834 }, { "marker_id": 64, "link": "Board", "observed_position_m": [ -0.021255606940066785, -0.18801819690343263, -0.027179039698216875 ], "predicted_position_m": [ -0.02125044894668999, -0.18818986184823136, -0.027251956094096558 ], "error_m": [ 5.157993376796177e-06, -0.0001716649447987273, -7.291639587968246e-05 ], "error_norm_m": 0.00018658043562096141 }, { "marker_id": 66, "link": "Board", "observed_position_m": [ 0.20987276350792824, -0.36338837648039785, -0.027274993584734897 ], "predicted_position_m": [ 0.20976073750950172, -0.3632014901224406, -0.027297791808188365 ], "error_m": [ -0.00011202599842652372, 0.00018688635795727215, -2.279822345346849e-05 ], "error_norm_m": 0.00021908010887944034 }, { "marker_id": 68, "link": "Board", "observed_position_m": [ 0.5737432035845004, 0.1704810903666484, -0.02734726902910839 ], "predicted_position_m": [ 0.573767597039867, 0.17065018769264914, -0.027395816576733574 ], "error_m": [ 2.4393455366644723e-05, 0.00016909732600073335, -4.854754762518426e-05 ], "error_norm_m": 0.0001776114036478016 }, { "marker_id": 69, "link": "Board", "observed_position_m": [ 0.00755574141251021, -0.28110924567195544, -0.027461901502363727 ], "predicted_position_m": [ 0.00762487073506257, -0.28117131538216195, -0.02725541934595461 ], "error_m": [ 6.912932255235919e-05, -6.206971020650265e-05, 0.00020648215640911571 ], "error_norm_m": 0.00022642083180888164 }, { "marker_id": 72, "link": "Board", "observed_position_m": [ 0.4406145001061791, 0.19397689288267184, -0.026942116326505443 ], "predicted_position_m": [ 0.4410287922799845, 0.19433686922946028, -0.02736702957447603 ], "error_m": [ 0.0004142921738053973, 0.00035997634678844315, -0.0004249132479705875 ], "error_norm_m": 0.0006940981514342688 }, { "marker_id": 73, "link": "Board", "observed_position_m": [ 0.22176314591781232, 0.33300396234440044, -0.02709735120117999 ], "predicted_position_m": [ 0.2217757831139039, 0.33313790561850076, -0.027322656757840347 ], "error_m": [ 1.2637196091569436e-05, 0.00013394327410032325, -0.00022530555666035526 ], "error_norm_m": 0.00026241778381772007 }, { "marker_id": 74, "link": "Board", "observed_position_m": [ 0.09385544036167941, 0.14448848538356282, -0.027182652876823386 ], "predicted_position_m": [ 0.09381629394066922, 0.1445343464233952, -0.027288168162029502 ], "error_m": [ -3.9146421010188837e-05, 4.586103983236778e-05, -0.00010551528520611614 ], "error_norm_m": 0.00012152840270710798 }, { "marker_id": 75, "link": "Board", "observed_position_m": [ -0.025763998800622002, 0.19444176428774437, -0.027301932107234264 ], "predicted_position_m": [ -0.025661182485608103, 0.1946203604601743, -0.02726317384436022 ], "error_m": [ 0.00010281631501389901, 0.00017859617242993453, 3.8758262874045296e-05 ], "error_norm_m": 0.00020969022480953617 }, { "marker_id": 77, "link": "Board", "observed_position_m": [ 0.018169208444387453, 0.19143990930014382, -0.02706833088952131 ], "predicted_position_m": [ 0.018228664882328053, 0.1916081512256859, -0.027272845810604032 ], "error_m": [ 5.945643794059985e-05, 0.00016824192554207307, -0.00020451492108272337 ], "error_norm_m": 0.0002714162236642486 }, { "marker_id": 79, "link": "Board", "observed_position_m": [ 0.3126746054816076, -0.158717625668886, -0.027311371106187077 ], "predicted_position_m": [ 0.31232100794274237, -0.1590866524246321, -0.02732712196249834 ], "error_m": [ -0.0003535975388652135, -0.0003690267557460991, -1.5750856311263356e-05 ], "error_norm_m": 0.0005113316491501043 }, { "marker_id": 81, "link": "Board", "observed_position_m": [ 0.13204212954394157, 0.16914390659535763, -0.027480032106360967 ], "predicted_position_m": [ 0.1321775275061202, 0.16906241549720502, -0.027297487353687547 ], "error_m": [ 0.00013539796217862388, -8.149109815261402e-05, 0.00018254475267341988 ], "error_norm_m": 0.00024144563356756543 }, { "marker_id": 82, "link": "Board", "observed_position_m": [ 0.21925812882956283, 0.29746581757501084, -0.027729774106746444 ], "predicted_position_m": [ 0.21920397788882767, 0.29726803504525456, -0.02732094128641662 ], "error_m": [ -5.415094073515925e-05, -0.00019778252975627408, 0.00040883282032982277 ], "error_norm_m": 0.00045737788363467175 }, { "marker_id": 83, "link": "Board", "observed_position_m": [ 0.04421333122656243, 0.3393763402679264, -0.02742588305408099 ], "predicted_position_m": [ 0.044206095245043264, 0.3392568437420078, -0.02728333251455351 ], "error_m": [ -7.235981519165824e-06, -0.00011949652591858317, 0.00014255053952747995 ], "error_norm_m": 0.0001861516463927514 }, { "marker_id": 84, "link": "Board", "observed_position_m": [ 0.4074264090263185, 0.2583730126516718, -0.027292223270580108 ], "predicted_position_m": [ 0.40753201922442883, 0.2584385553662033, -0.027361617449647983 ], "error_m": [ 0.00010561019811033967, 6.554271453151905e-05, -6.939417906787551e-05 ], "error_norm_m": 0.0001423548856259235 }, { "marker_id": 85, "link": "Board", "observed_position_m": [ 0.5044103136812026, -0.3125915793033571, -0.027504006275488692 ], "predicted_position_m": [ 0.5045932704293496, -0.31273633072647133, -0.027365016849548045 ], "error_m": [ 0.0001829567481470562, -0.00014475142311420885, 0.00013898942594064642 ], "error_norm_m": 0.0002715588457580502 }, { "marker_id": 86, "link": "Board", "observed_position_m": [ 0.36328902745790426, 0.2916071825316134, -0.026986852007204486 ], "predicted_position_m": [ 0.3629337109279086, 0.29203080028486683, -0.027352762334812965 ], "error_m": [ -0.0003553165299956529, 0.00042361775325344686, -0.0003659103276084791 ], "error_norm_m": 0.0006630174999275617 }, { "marker_id": 92, "link": "Board", "observed_position_m": [ 0.645416075566258, -0.18508625058963127, -0.027223376810718493 ], "predicted_position_m": [ 0.645109704320976, -0.18483340364174242, -0.027400365665502784 ], "error_m": [ -0.0003063712452819889, 0.00025284694788885176, -0.0001769888547842914 ], "error_norm_m": 0.00043487926337111007 }, { "marker_id": 95, "link": "Board", "observed_position_m": [ 0.1858664135424314, -0.2742319048544393, -0.02721831151586433 ], "predicted_position_m": [ 0.18605522543736824, -0.27404029681800157, -0.027295357385298712 ], "error_m": [ 0.00018881189493683004, 0.00019160803643775148, -7.704586943438341e-05 ], "error_norm_m": 0.00027982072348928575 }, { "marker_id": 96, "link": "Board", "observed_position_m": [ 0.3694396203720345, -0.18635894103784878, -0.027280841967275808 ], "predicted_position_m": [ 0.3697896284457174, -0.18646954517652192, -0.027339039325059333 ], "error_m": [ 0.0003500080736829059, -0.00011060413867314267, -5.8197357783524445e-05 ], "error_norm_m": 0.00037165287512385775 }, { "marker_id": 97, "link": "Board", "observed_position_m": [ 0.30415826635665294, -0.35976880250839965, -0.027100580288146162 ], "predicted_position_m": [ 0.30436091421718414, -0.3596462518988181, -0.027318958965733053 ], "error_m": [ 0.0002026478605312021, 0.00012255060958155095, -0.00021837867758689108 ], "error_norm_m": 0.0003221398052263685 }, { "marker_id": 102, "link": "Board", "observed_position_m": [ 0.6498559253369631, -0.2227950825046267, -0.02779028826842327 ], "predicted_position_m": [ 0.64970778365643, -0.22299363511886683, -0.02740017290743958 ], "error_m": [ -0.00014814168053312038, -0.00019855261424012172, 0.00039011536098369076 ], "error_norm_m": 0.0004621245427459994 }, { "marker_id": 103, "link": "Board", "observed_position_m": [ 0.10598409663240727, -0.1876934030826573, -0.027530516744529852 ], "predicted_position_m": [ 0.10572957391869611, -0.1876762534935748, -0.027280232657757288 ], "error_m": [ -0.00025452271371115276, 1.7149589082499084e-05, 0.00025028408677256475 ], "error_norm_m": 0.00035737661408123043 }, { "marker_id": 105, "link": "Board", "observed_position_m": [ 0.5246936834016044, -0.26645325107210227, -0.027102835841396843 ], "predicted_position_m": [ 0.5248556101884461, -0.2662373506130235, -0.027371008187954803 ], "error_m": [ 0.00016192678684168182, 0.0002159004590787661, -0.00026817234655795996 ], "error_norm_m": 0.00038045985331660947 }, { "marker_id": 113, "link": "Arm2", "observed_position_m": [ 0.406306212975191, -0.06894271060790462, 0.22063552252341065 ], "predicted_position_m": [ 0.34667840045468484, 0.043825297833157056, 0.42675824184574285 ], "error_m": [ -0.05962781252050614, 0.11276800844106168, 0.2061227193223322 ], "error_norm_m": 0.24240188772898802 }, { "marker_id": 115, "link": "Arm2", "observed_position_m": [ 0.34593195670164295, -0.0652549391327112, 0.21577719919627816 ], "predicted_position_m": [ 0.4033372386534436, 0.02987172029021534, 0.41243348259162577 ], "error_m": [ 0.05740528195180067, 0.09512665942292654, 0.1966562833953476 ], "error_norm_m": 0.22587195825910408 }, { "marker_id": 122, "link": "Arm2", "observed_position_m": [ 0.3623663857308669, -0.019072711453021453, 0.2726542666118881 ], "predicted_position_m": [ 0.3795416994768205, 0.07139623771130262, 0.3547523611722594 ], "error_m": [ 0.017175313745953602, 0.09046894916432408, 0.08209809456037132 ], "error_norm_m": 0.12336822644268121 }, { "marker_id": 124, "link": "Arm2", "observed_position_m": [ 0.3622967098084236, -0.10812751956849523, 0.21272619936068318 ], "predicted_position_m": [ 0.3795544645476356, -0.005225463654619542, 0.4294391385612713 ], "error_m": [ 0.017257754739211983, 0.10290205591387569, 0.21671293920058812 ], "error_norm_m": 0.24052268339368535 }, { "marker_id": 205, "link": "Board", "observed_position_m": [ 0.750084878378726, -0.08999180999484437, 0.0003863732190603025 ], "predicted_position_m": [ 0.7500306173198179, -0.08999780498649211, 0.00017326201004526934 ], "error_m": [ -5.4261058908045e-05, -5.994991647745307e-06, -0.00021311120901503319 ], "error_norm_m": 0.00021999224951467727 }, { "marker_id": 206, "link": "Board", "observed_position_m": [ 0.6499859131167766, -0.009646345575546049, 0.00013050963098775242 ], "predicted_position_m": [ 0.6500346462223981, -0.009992771544889912, 0.00019296713865010095 ], "error_m": [ 4.8733105621590056e-05, -0.000346425969343863, 6.245750766234852e-05 ], "error_norm_m": 0.000355368552467368 }, { "marker_id": 207, "link": "Board", "observed_position_m": [ 0.7507132787293569, -0.009535114104152738, -0.0003780564061822259 ], "predicted_position_m": [ 0.7500346436191851, -0.009997805128462612, 0.0001707116759871985 ], "error_m": [ -0.0006786351101717436, -0.00046269102430987474, 0.0005487680821694244 ], "error_norm_m": 0.0009878132438586981 }, { "marker_id": 208, "link": "Board", "observed_position_m": [ 0.34999484340873555, -0.09004625214657956, 0.0003044471593212442 ], "predicted_position_m": [ 0.35003062773266974, -0.0899776706522013, 0.000262283860696879 ], "error_m": [ 3.578432393419595e-05, 6.858149437825867e-05, -4.216329862436521e-05 ], "error_norm_m": 8.810041408228449e-05 }, { "marker_id": 210, "link": "Board", "observed_position_m": [ 0.020197100885936306, -0.019672233905416562, -9.432218596201098e-05 ], "predicted_position_m": [ 0.020034159335218682, -0.019961059950635584, 0.00033349534518364496 ], "error_m": [ -0.00016294155071762406, -0.00028882604521902194, 0.00042781753114565593 ], "error_norm_m": 0.0005412931491370354 }, { "marker_id": 211, "link": "Board", "observed_position_m": [ 0.24970650058471464, -0.009733770306651957, 0.00015592780785901754 ], "predicted_position_m": [ 0.2500346566352498, -0.009972637210599107, 0.0002819889893017106 ], "error_m": [ 0.00032815605053518326, -0.00023886690394715054, 0.00012606118144269305 ], "error_norm_m": 0.0004250120148547269 }, { "marker_id": 214, "link": "Board", "observed_position_m": [ 0.3496596168465944, -0.01009872866262521, 0.0005453862194602949 ], "predicted_position_m": [ 0.35003465403203693, -0.00997767079417181, 0.00025973352663880814 ], "error_m": [ 0.0003750371854425172, 0.00012105786845340027, -0.00028565269282148677 ], "error_norm_m": 0.0004867292459831158 }, { "marker_id": 215, "link": "Board", "observed_position_m": [ 0.25004283274211697, -0.08991721617963214, 0.0004237151413322776 ], "predicted_position_m": [ 0.25003063033588263, -0.0899726370686286, 0.00028453932335978144 ], "error_m": [ -1.2202406234340657e-05, -5.542088899646025e-05, -0.00013917581797249617 ], "error_norm_m": 0.00015030063859937268 }, { "marker_id": 217, "link": "Board", "observed_position_m": [ 0.6502202803239158, -0.0896760740485087, 8.808816296974863e-05 ], "predicted_position_m": [ 0.6500306199230309, -0.0899927714029194, 0.00019551747270817174 ], "error_m": [ -0.00018966040088486125, -0.0003166973544106999, 0.0001074293097384231 ], "error_norm_m": 0.00038445980094857355 }, { "marker_id": 231, "link": "Ellbow", "observed_position_m": [ 0.3800267011983782, 0.09723279901521602, 0.3444213213734971 ], "predicted_position_m": [ 0.3765495651704374, 0.2109385661811157, 0.30199548341003196 ], "error_m": [ -0.003477136027940808, 0.11370576716589968, -0.04242583796346516 ], "error_norm_m": 0.121412699865561 }, { "marker_id": 242, "link": "Arm1", "observed_position_m": [ 0.28989346127624344, 0.055251168644866074, 0.3076146980783263 ], "predicted_position_m": [ 0.286548126834055, 0.1422604748321128, 0.3110762892262356 ], "error_m": [ -0.00334533444218843, 0.08700930618724673, 0.003461591147909282 ], "error_norm_m": 0.08714237338397106 }, { "marker_id": 243, "link": "Arm1", "observed_position_m": [ 0.29003939154155983, 0.08827374048338495, 0.34508499365097506 ], "predicted_position_m": [ 0.2865556812791115, 0.18545251170151303, 0.3352516463900542 ], "error_m": [ -0.003483710262448314, 0.09717877121812808, -0.009833347260920833 ], "error_norm_m": 0.09773711951460318 }, { "marker_id": 246, "link": "Ellbow", "observed_position_m": [ 0.3799140142192884, 0.07091170512535183, 0.33918016355014696 ], "predicted_position_m": [ 0.37655451150540487, 0.20036989672895877, 0.326611092310532 ], "error_m": [ -0.003359502713883522, 0.12945819160360694, -0.012569071239614982 ], "error_norm_m": 0.13011030391013356 }, { "marker_id": 247, "link": "Ellbow", "observed_position_m": [ 0.34249986610484184, 0.07098597957188753, 0.3391879731705899 ], "predicted_position_m": [ 0.3390545124817443, 0.20037178432279854, 0.32661943810903055 ], "error_m": [ -0.003445353623097558, 0.129385804750911, -0.01256853506155936 ], "error_norm_m": 0.13004047449245446 } ] }