1090 lines
20 KiB
JSON
1090 lines
20 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-02T22:55:47Z",
|
|
"summary": {
|
|
"num_cameras": 6,
|
|
"num_markers": 51,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.3001274357176493,
|
|
-0.7979520803678932,
|
|
0.8009902676185592
|
|
],
|
|
"position_mm": [
|
|
-300.12743571764935,
|
|
-797.9520803678932,
|
|
800.9902676185592
|
|
],
|
|
"direction": [
|
|
0.4789915382862091,
|
|
0.6567302346229553,
|
|
-0.5824710726737976
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.30646773723406184,
|
|
-0.8952954576450594,
|
|
1.2012608829797486
|
|
],
|
|
"position_mm": [
|
|
306.4677372340618,
|
|
-895.2954576450594,
|
|
1201.2608829797487
|
|
],
|
|
"direction": [
|
|
0.00400501536205411,
|
|
0.6243181228637695,
|
|
-0.7811599373817444
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.7046937746856436,
|
|
-0.7914174011623307,
|
|
0.3989527588758248
|
|
],
|
|
"position_mm": [
|
|
704.6937746856437,
|
|
-791.4174011623307,
|
|
398.9527588758248
|
|
],
|
|
"direction": [
|
|
-0.5576696991920471,
|
|
0.7805226445198059,
|
|
-0.28246936202049255
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.2059563341749637,
|
|
-0.9025538118437437,
|
|
0.4061715893081437
|
|
],
|
|
"position_mm": [
|
|
1205.9563341749638,
|
|
-902.5538118437437,
|
|
406.17158930814367
|
|
],
|
|
"direction": [
|
|
-0.750444233417511,
|
|
0.60433429479599,
|
|
-0.2676071226596832
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.4848910479147168,
|
|
-0.3064199973610857,
|
|
1.40194389878924
|
|
],
|
|
"position_mm": [
|
|
484.8910479147168,
|
|
-306.41999736108573,
|
|
1401.9438987892402
|
|
],
|
|
"direction": [
|
|
-0.22731362283229828,
|
|
0.08567609637975693,
|
|
-0.9700454473495483
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.20647920852698148,
|
|
0.20854052825566233,
|
|
1.3996693000606282
|
|
],
|
|
"position_mm": [
|
|
-206.4792085269815,
|
|
208.54052825566234,
|
|
1399.669300060628
|
|
],
|
|
"direction": [
|
|
0.30005520582199097,
|
|
-0.30117395520210266,
|
|
-0.9051304459571838
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 40,
|
|
"position_m": [
|
|
0.28669408980347005,
|
|
-0.34645413085312676,
|
|
0.20611877666542094
|
|
],
|
|
"position_mm": [
|
|
286.69408980347004,
|
|
-346.45413085312674,
|
|
206.11877666542094
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
-0.4224220616915755,
|
|
0.0,
|
|
-0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.292597244695762,
|
|
-0.3615283881483661,
|
|
0.18909115629962273
|
|
],
|
|
"position_mm": [
|
|
292.59724469576196,
|
|
-361.52838814836605,
|
|
189.09115629962272
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 44,
|
|
"position_m": [
|
|
0.32036019186516973,
|
|
-0.2899029308393848,
|
|
0.18759329367407138
|
|
],
|
|
"position_mm": [
|
|
320.3601918651697,
|
|
-289.9029308393848,
|
|
187.5932936740714
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
-0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5366159410790386,
|
|
0.18333723624358136,
|
|
-0.03210484999708254
|
|
],
|
|
"position_mm": [
|
|
536.6159410790386,
|
|
183.33723624358137,
|
|
-32.10484999708254
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34501219433944597,
|
|
-0.28541710400961207,
|
|
-0.03072241961471512
|
|
],
|
|
"position_mm": [
|
|
345.01219433944595,
|
|
-285.41710400961205,
|
|
-30.72241961471512
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6883000683500718,
|
|
-0.3195736986994509,
|
|
-0.02672315452684631
|
|
],
|
|
"position_mm": [
|
|
688.3000683500718,
|
|
-319.5736986994509,
|
|
-26.723154526846308
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16814115450481765,
|
|
-0.17355500742260696,
|
|
-0.02715091967109209
|
|
],
|
|
"position_mm": [
|
|
168.14115450481765,
|
|
-173.55500742260696,
|
|
-27.15091967109209
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48779879152452615,
|
|
0.21113466709195655,
|
|
-0.024213547487401448
|
|
],
|
|
"position_mm": [
|
|
487.79879152452617,
|
|
211.13466709195654,
|
|
-24.21354748740145
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3397927056869626,
|
|
-0.3289511966997954,
|
|
-0.02605599513099849
|
|
],
|
|
"position_mm": [
|
|
339.7927056869626,
|
|
-328.9511966997954,
|
|
-26.05599513099849
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.284973943899796,
|
|
-0.26042775251748185,
|
|
-0.028175990941013328
|
|
],
|
|
"position_mm": [
|
|
284.97394389979604,
|
|
-260.42775251748185,
|
|
-28.17599094101333
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.4986612349114353,
|
|
0.16722768354013356,
|
|
-0.026867036366217872
|
|
],
|
|
"position_mm": [
|
|
498.6612349114353,
|
|
167.22768354013357,
|
|
-26.86703636621787
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"position_m": [
|
|
0.6026764925297301,
|
|
-0.3631989423636363,
|
|
-0.028190392783391634
|
|
],
|
|
"position_mm": [
|
|
602.6764925297301,
|
|
-363.1989423636363,
|
|
-28.190392783391633
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.0494630940949278,
|
|
-0.2172163228528524,
|
|
-0.026459255892958108
|
|
],
|
|
"position_mm": [
|
|
49.463094094927804,
|
|
-217.2163228528524,
|
|
-26.459255892958108
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6256855045346146,
|
|
-0.2778100552888557,
|
|
-0.027385446617988703
|
|
],
|
|
"position_mm": [
|
|
625.6855045346146,
|
|
-277.8100552888557,
|
|
-27.385446617988702
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"position_m": [
|
|
-0.02192221135909067,
|
|
0.3330468945501101,
|
|
-0.025985451052091164
|
|
],
|
|
"position_mm": [
|
|
-21.92221135909067,
|
|
333.0468945501101,
|
|
-25.985451052091165
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.404805806919564,
|
|
-0.17471478493405335,
|
|
-0.025901674709652142
|
|
],
|
|
"position_mm": [
|
|
404.805806919564,
|
|
-174.71478493405334,
|
|
-25.90167470965214
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7754400401455037,
|
|
-0.23629904786307135,
|
|
-0.027723758035072724
|
|
],
|
|
"position_mm": [
|
|
775.4400401455038,
|
|
-236.29904786307134,
|
|
-27.723758035072724
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.021976106653156306,
|
|
-0.1876802210540423,
|
|
-0.029476830601182235
|
|
],
|
|
"position_mm": [
|
|
-21.976106653156304,
|
|
-187.6802210540423,
|
|
-29.476830601182236
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5751427691870935,
|
|
0.17396191682087914,
|
|
-0.027944573634173707
|
|
],
|
|
"position_mm": [
|
|
575.1427691870934,
|
|
173.96191682087914,
|
|
-27.944573634173707
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005130965825760611,
|
|
-0.27901853455746445,
|
|
-0.02759221310965929
|
|
],
|
|
"position_mm": [
|
|
5.130965825760612,
|
|
-279.0185345574644,
|
|
-27.59221310965929
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"position_m": [
|
|
0.7510883410681648,
|
|
-0.285905320575573,
|
|
-0.026577400565617866
|
|
],
|
|
"position_mm": [
|
|
751.0883410681648,
|
|
-285.905320575573,
|
|
-26.577400565617864
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4424963769623253,
|
|
0.1939812915632383,
|
|
-0.029014487681068166
|
|
],
|
|
"position_mm": [
|
|
442.4963769623253,
|
|
193.9812915632383,
|
|
-29.014487681068164
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.027402789363015795,
|
|
0.19241829938107363,
|
|
-0.02606173372831283
|
|
],
|
|
"position_mm": [
|
|
-27.402789363015795,
|
|
192.41829938107364,
|
|
-26.06173372831283
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31219030642420653,
|
|
-0.15785474722220166,
|
|
-0.027888070278603943
|
|
],
|
|
"position_mm": [
|
|
312.19030642420654,
|
|
-157.85474722220167,
|
|
-27.888070278603944
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5061932423509775,
|
|
-0.31420447603310825,
|
|
-0.02705478815622367
|
|
],
|
|
"position_mm": [
|
|
506.1932423509775,
|
|
-314.2044760331082,
|
|
-27.05478815622367
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.36185715720518324,
|
|
0.294897577988576,
|
|
-0.026799685726097994
|
|
],
|
|
"position_mm": [
|
|
361.8571572051832,
|
|
294.897577988576,
|
|
-26.799685726097994
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6465552099592395,
|
|
-0.18502323952406702,
|
|
-0.02708828844298696
|
|
],
|
|
"position_mm": [
|
|
646.5552099592395,
|
|
-185.023239524067,
|
|
-27.08828844298696
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 94,
|
|
"position_m": [
|
|
0.872400394844296,
|
|
0.17376974126322248,
|
|
-0.026249306084951515
|
|
],
|
|
"position_mm": [
|
|
872.400394844296,
|
|
173.76974126322247,
|
|
-26.249306084951513
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18658166538086207,
|
|
-0.2755068496950745,
|
|
-0.027809164612027686
|
|
],
|
|
"position_mm": [
|
|
186.58166538086206,
|
|
-275.5068496950745,
|
|
-27.809164612027686
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.36961054715120173,
|
|
-0.18525513491440143,
|
|
-0.02574335647022552
|
|
],
|
|
"position_mm": [
|
|
369.61054715120173,
|
|
-185.25513491440142,
|
|
-25.74335647022552
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.3036810963127558,
|
|
-0.3601754266549372,
|
|
-0.023919213058348893
|
|
],
|
|
"position_mm": [
|
|
303.6810963127558,
|
|
-360.17542665493716,
|
|
-23.919213058348895
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6515478854152722,
|
|
-0.2231264455755907,
|
|
-0.02783919002513794
|
|
],
|
|
"position_mm": [
|
|
651.5478854152722,
|
|
-223.12644557559068,
|
|
-27.839190025137942
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10598918450951204,
|
|
-0.1887217170079262,
|
|
-0.029712991008157167
|
|
],
|
|
"position_mm": [
|
|
105.98918450951204,
|
|
-188.7217170079262,
|
|
-29.712991008157168
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"position_m": [
|
|
0.524159191863673,
|
|
-0.2668273073377131,
|
|
-0.029366910156245835
|
|
],
|
|
"position_mm": [
|
|
524.159191863673,
|
|
-266.8273073377131,
|
|
-29.366910156245837
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.28051890573436844,
|
|
-0.2353689986963321,
|
|
0.2206828545246336
|
|
],
|
|
"position_mm": [
|
|
280.51890573436845,
|
|
-235.36899869633208,
|
|
220.6828545246336
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 115,
|
|
"position_m": [
|
|
0.30971353446571853,
|
|
-0.2275541135394946,
|
|
0.18148000580462506
|
|
],
|
|
"position_mm": [
|
|
309.7135344657185,
|
|
-227.55411353949458,
|
|
181.48000580462505
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.280268458522063,
|
|
-0.16937041062356806,
|
|
0.24400969241283788
|
|
],
|
|
"position_mm": [
|
|
280.268458522063,
|
|
-169.37041062356806,
|
|
244.00969241283786
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.7071067811865475,
|
|
0.0,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7530843813385117,
|
|
-0.09037924712185684,
|
|
-0.00027622642519014575
|
|
],
|
|
"position_mm": [
|
|
753.0843813385118,
|
|
-90.37924712185684,
|
|
-0.27622642519014573
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6506979637099309,
|
|
-0.009880619108394235,
|
|
-1.3972060926685923e-05
|
|
],
|
|
"position_mm": [
|
|
650.697963709931,
|
|
-9.880619108394235,
|
|
-0.013972060926685924
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35220686499915543,
|
|
-0.09082781396478944,
|
|
0.0015281840579524774
|
|
],
|
|
"position_mm": [
|
|
352.2068649991554,
|
|
-90.82781396478944,
|
|
1.5281840579524775
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.02156440079057562,
|
|
-0.02057496368025465,
|
|
0.0012862128417969298
|
|
],
|
|
"position_mm": [
|
|
21.56440079057562,
|
|
-20.57496368025465,
|
|
1.2862128417969299
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.2523862789482616,
|
|
-0.009520067093582952,
|
|
0.000312761566971308
|
|
],
|
|
"position_mm": [
|
|
252.3862789482616,
|
|
-9.520067093582952,
|
|
0.312761566971308
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3472836697710354,
|
|
-0.0109859261771264,
|
|
0.0005131489924370249
|
|
],
|
|
"position_mm": [
|
|
347.2836697710354,
|
|
-10.9859261771264,
|
|
0.5131489924370248
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6469984964626616,
|
|
-0.08979406340673446,
|
|
-0.0004104182590339641
|
|
],
|
|
"position_mm": [
|
|
646.9984964626616,
|
|
-89.79406340673447,
|
|
-0.4104182590339641
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.2537061059495583,
|
|
-0.16807793789761424,
|
|
0.24078288478972232
|
|
],
|
|
"position_mm": [
|
|
253.7061059495583,
|
|
-168.07793789761425,
|
|
240.78288478972232
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"position_m": [
|
|
0.2543458406007365,
|
|
-0.26995985466083927,
|
|
0.20636219216696056
|
|
],
|
|
"position_mm": [
|
|
254.3458406007365,
|
|
-269.95985466083926,
|
|
206.36219216696057
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 231,
|
|
"position_m": [
|
|
0.26885960374224943,
|
|
-0.037749185917190994,
|
|
0.28307830242644183
|
|
],
|
|
"position_mm": [
|
|
268.8596037422494,
|
|
-37.74918591719099,
|
|
283.07830242644184
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.19173176288096377,
|
|
-0.044914708853607,
|
|
0.24290008567581098
|
|
],
|
|
"position_mm": [
|
|
191.73176288096377,
|
|
-44.914708853607,
|
|
242.90008567581097
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.30985586067467247,
|
|
-0.05737020356305871,
|
|
0.25665366260569694
|
|
],
|
|
"position_mm": [
|
|
309.85586067467244,
|
|
-57.37020356305871,
|
|
256.6536626056969
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"position_m": [
|
|
0.2688422594683148,
|
|
-0.06453577222506615,
|
|
0.28342198195293117
|
|
],
|
|
"position_mm": [
|
|
268.8422594683148,
|
|
-64.53577222506615,
|
|
283.42198195293116
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.23154209798282255,
|
|
-0.06173626342286741,
|
|
0.2860896698363562
|
|
],
|
|
"position_mm": [
|
|
231.54209798282255,
|
|
-61.73626342286741,
|
|
286.0896698363562
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |