1052 lines
20 KiB
JSON
1052 lines
20 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:16:12Z",
|
|
"summary": {
|
|
"num_cameras": 6,
|
|
"num_markers": 49,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.29955195892720843,
|
|
-0.7973261061142631,
|
|
0.8018813702295133
|
|
],
|
|
"position_mm": [
|
|
-299.55195892720843,
|
|
-797.3261061142631,
|
|
801.8813702295133
|
|
],
|
|
"direction": [
|
|
0.47862082719802856,
|
|
0.6562461256980896,
|
|
-0.5833207368850708
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.30449238671529855,
|
|
-0.8931909500442883,
|
|
1.2021616686917198
|
|
],
|
|
"position_mm": [
|
|
304.49238671529855,
|
|
-893.1909500442882,
|
|
1202.1616686917198
|
|
],
|
|
"direction": [
|
|
0.005216329824179411,
|
|
0.6232568621635437,
|
|
-0.7819998264312744
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.31702206513417014,
|
|
-0.9009856513305725,
|
|
0.39446443494699257
|
|
],
|
|
"position_mm": [
|
|
317.02206513417013,
|
|
-900.9856513305725,
|
|
394.4644349469926
|
|
],
|
|
"direction": [
|
|
-0.12359802424907684,
|
|
0.9488852620124817,
|
|
-0.29041391611099243
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.7054014679839464,
|
|
-0.7919478105063438,
|
|
0.3967113315257853
|
|
],
|
|
"position_mm": [
|
|
705.4014679839464,
|
|
-791.9478105063438,
|
|
396.7113315257853
|
|
],
|
|
"direction": [
|
|
-0.5578631162643433,
|
|
0.781220555305481,
|
|
-0.28014856576919556
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.2003205157992303,
|
|
-0.9051194632262202,
|
|
0.40226793640946296
|
|
],
|
|
"position_mm": [
|
|
1200.3205157992302,
|
|
-905.1194632262202,
|
|
402.26793640946295
|
|
],
|
|
"direction": [
|
|
-0.7470906376838684,
|
|
0.6093959212303162,
|
|
-0.26550355553627014
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.48085701508868617,
|
|
-0.3026928145345371,
|
|
1.4042255506450263
|
|
],
|
|
"position_mm": [
|
|
480.8570150886862,
|
|
-302.6928145345371,
|
|
1404.2255506450263
|
|
],
|
|
"direction": [
|
|
-0.22449733316898346,
|
|
0.08296965062618256,
|
|
-0.970936119556427
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 41,
|
|
"position_m": [
|
|
0.2845878136001195,
|
|
-0.08312955524426864,
|
|
0.44099400267395616
|
|
],
|
|
"position_mm": [
|
|
284.5878136001195,
|
|
-83.12955524426864,
|
|
440.9940026739562
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.24826921746793756,
|
|
-0.08131835247131289,
|
|
0.4714228233146397
|
|
],
|
|
"position_mm": [
|
|
248.26921746793755,
|
|
-81.31835247131289,
|
|
471.4228233146397
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.2792505447655934,
|
|
-0.053366788055752054,
|
|
0.4544214282187859
|
|
],
|
|
"position_mm": [
|
|
279.2505447655934,
|
|
-53.36678805575205,
|
|
454.4214282187859
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3443131690299116,
|
|
-0.2856001408850698,
|
|
-0.029353936489978697
|
|
],
|
|
"position_mm": [
|
|
344.3131690299116,
|
|
-285.6001408850698,
|
|
-29.353936489978697
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6872859400463482,
|
|
-0.31898643940260196,
|
|
-0.027193662964210333
|
|
],
|
|
"position_mm": [
|
|
687.2859400463483,
|
|
-318.98643940260195,
|
|
-27.193662964210333
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16785683884087685,
|
|
-0.17366191377963308,
|
|
-0.02722462467574723
|
|
],
|
|
"position_mm": [
|
|
167.85683884087686,
|
|
-173.66191377963307,
|
|
-27.22462467574723
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48782355116195963,
|
|
0.2135404665135045,
|
|
-0.025888431615125065
|
|
],
|
|
"position_mm": [
|
|
487.82355116195964,
|
|
213.5404665135045,
|
|
-25.888431615125064
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3403334701871276,
|
|
-0.32938373694739664,
|
|
-0.025979638420672094
|
|
],
|
|
"position_mm": [
|
|
340.3334701871276,
|
|
-329.38373694739664,
|
|
-25.979638420672092
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2841961476462362,
|
|
-0.2607631857174943,
|
|
-0.02720714777806827
|
|
],
|
|
"position_mm": [
|
|
284.19614764623617,
|
|
-260.7631857174943,
|
|
-27.207147778068272
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.048454493904794844,
|
|
-0.2167020613544816,
|
|
-0.02682302201030513
|
|
],
|
|
"position_mm": [
|
|
48.454493904794845,
|
|
-216.7020613544816,
|
|
-26.82302201030513
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6248858519001955,
|
|
-0.2769071911877489,
|
|
-0.028084684867433693
|
|
],
|
|
"position_mm": [
|
|
624.8858519001956,
|
|
-276.90719118774894,
|
|
-28.084684867433694
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40441336251147525,
|
|
-0.17290505421437505,
|
|
-0.028117130764406827
|
|
],
|
|
"position_mm": [
|
|
404.41336251147527,
|
|
-172.90505421437504,
|
|
-28.117130764406827
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.774945397708602,
|
|
-0.23639116106194794,
|
|
-0.02765827615822816
|
|
],
|
|
"position_mm": [
|
|
774.9453977086021,
|
|
-236.39116106194794,
|
|
-27.65827615822816
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.022508399205411884,
|
|
-0.185989771945657,
|
|
-0.029286151409946108
|
|
],
|
|
"position_mm": [
|
|
-22.508399205411884,
|
|
-185.989771945657,
|
|
-29.286151409946108
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.20966774761450438,
|
|
-0.3648827502744256,
|
|
-0.027089020775231856
|
|
],
|
|
"position_mm": [
|
|
209.66774761450438,
|
|
-364.88275027442563,
|
|
-27.089020775231855
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005024563082959406,
|
|
-0.2791482140073098,
|
|
-0.027492584379966482
|
|
],
|
|
"position_mm": [
|
|
5.024563082959406,
|
|
-279.14821400730983,
|
|
-27.492584379966484
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44279097745176765,
|
|
0.19539926651192188,
|
|
-0.029432512798505703
|
|
],
|
|
"position_mm": [
|
|
442.7909774517677,
|
|
195.3992665119219,
|
|
-29.432512798505705
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.027139366474721153,
|
|
0.19225261874719635,
|
|
-0.026963574101915293
|
|
],
|
|
"position_mm": [
|
|
-27.139366474721154,
|
|
192.25261874719635,
|
|
-26.96357410191529
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 76,
|
|
"position_m": [
|
|
0.6853511912910756,
|
|
0.16720409685505896,
|
|
-0.02588897790542648
|
|
],
|
|
"position_mm": [
|
|
685.3511912910756,
|
|
167.20409685505896,
|
|
-25.88897790542648
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31237647148179565,
|
|
-0.15859057988244138,
|
|
-0.027392165115266518
|
|
],
|
|
"position_mm": [
|
|
312.37647148179565,
|
|
-158.59057988244138,
|
|
-27.39216511526652
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"position_m": [
|
|
0.04564290947513863,
|
|
0.34060628658282355,
|
|
-0.027002344372594786
|
|
],
|
|
"position_mm": [
|
|
45.64290947513863,
|
|
340.60628658282354,
|
|
-27.002344372594784
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.50650248090863,
|
|
-0.31331706854901764,
|
|
-0.027477323268388067
|
|
],
|
|
"position_mm": [
|
|
506.50248090863005,
|
|
-313.3170685490176,
|
|
-27.477323268388066
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.36227375603518724,
|
|
0.2959948873698327,
|
|
-0.027904251523925828
|
|
],
|
|
"position_mm": [
|
|
362.27375603518726,
|
|
295.9948873698327,
|
|
-27.90425152392583
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6462173493357928,
|
|
-0.18478440715023672,
|
|
-0.028166466978570462
|
|
],
|
|
"position_mm": [
|
|
646.2173493357927,
|
|
-184.78440715023672,
|
|
-28.166466978570462
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 94,
|
|
"position_m": [
|
|
0.8729828258820428,
|
|
0.174871500207059,
|
|
-0.02745946858413013
|
|
],
|
|
"position_mm": [
|
|
872.9828258820428,
|
|
174.871500207059,
|
|
-27.459468584130132
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18662973874283115,
|
|
-0.27555189668408436,
|
|
-0.028043394810232308
|
|
],
|
|
"position_mm": [
|
|
186.62973874283114,
|
|
-275.55189668408434,
|
|
-28.043394810232307
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.36999596234351945,
|
|
-0.18563304719701318,
|
|
-0.026310030887633853
|
|
],
|
|
"position_mm": [
|
|
369.99596234351947,
|
|
-185.63304719701318,
|
|
-26.310030887633854
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.3041708465958557,
|
|
-0.36053239417638805,
|
|
-0.02361511361869122
|
|
],
|
|
"position_mm": [
|
|
304.17084659585566,
|
|
-360.53239417638804,
|
|
-23.61511361869122
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6519205298002738,
|
|
-0.22279278495157764,
|
|
-0.027742796191647164
|
|
],
|
|
"position_mm": [
|
|
651.9205298002738,
|
|
-222.79278495157763,
|
|
-27.742796191647162
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10596825287681441,
|
|
-0.19006828744250912,
|
|
-0.027551932976628682
|
|
],
|
|
"position_mm": [
|
|
105.96825287681442,
|
|
-190.0682874425091,
|
|
-27.55193297662868
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"position_m": [
|
|
0.5233958773732662,
|
|
-0.2655462475349594,
|
|
-0.029775628002187842
|
|
],
|
|
"position_mm": [
|
|
523.3958773732662,
|
|
-265.54624753495943,
|
|
-29.77562800218784
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.30934297758416673,
|
|
-0.11221288828959244,
|
|
0.32757565870131544
|
|
],
|
|
"position_mm": [
|
|
309.34297758416676,
|
|
-112.21288828959244,
|
|
327.57565870131543
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.19149162186756355,
|
|
-0.030903477006144743,
|
|
0.15027763103604444
|
|
],
|
|
"position_mm": [
|
|
191.49162186756354,
|
|
-30.903477006144744,
|
|
150.27763103604445
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6512072802208533,
|
|
-0.010027675606445487,
|
|
0.00024218823650127622
|
|
],
|
|
"position_mm": [
|
|
651.2072802208532,
|
|
-10.027675606445488,
|
|
0.24218823650127622
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"position_m": [
|
|
0.7511517726503444,
|
|
-0.013059698715701453,
|
|
0.0016233258210250619
|
|
],
|
|
"position_mm": [
|
|
751.1517726503444,
|
|
-13.059698715701453,
|
|
1.6233258210250618
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.35208140909317037,
|
|
-0.09100329310739755,
|
|
0.0011514883596726911
|
|
],
|
|
"position_mm": [
|
|
352.08140909317035,
|
|
-91.00329310739755,
|
|
1.1514883596726913
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.022134087288782536,
|
|
-0.018797653244016742,
|
|
-0.0006480728398587991
|
|
],
|
|
"position_mm": [
|
|
22.134087288782535,
|
|
-18.797653244016743,
|
|
-0.6480728398587992
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.2521836582448441,
|
|
-0.008694192160703478,
|
|
0.00019194019317999341
|
|
],
|
|
"position_mm": [
|
|
252.1836582448441,
|
|
-8.694192160703478,
|
|
0.19194019317999342
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.34775770690453467,
|
|
-0.011123229628084175,
|
|
0.00045841323558252535
|
|
],
|
|
"position_mm": [
|
|
347.75770690453464,
|
|
-11.123229628084175,
|
|
0.45841323558252534
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25090870397786635,
|
|
-0.0886839311433398,
|
|
6.720455038307789e-05
|
|
],
|
|
"position_mm": [
|
|
250.90870397786637,
|
|
-88.6839311433398,
|
|
0.06720455038307789
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6468068243317232,
|
|
-0.08990491490200402,
|
|
-0.00027319152625104854
|
|
],
|
|
"position_mm": [
|
|
646.8068243317232,
|
|
-89.90491490200401,
|
|
-0.27319152625104853
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.2668911873117717,
|
|
-0.1362236823944612,
|
|
0.26254764829003674
|
|
],
|
|
"position_mm": [
|
|
266.8911873117717,
|
|
-136.2236823944612,
|
|
262.54764829003676
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"position_m": [
|
|
0.2618106158911838,
|
|
-0.11519011144769874,
|
|
0.3688455384571295
|
|
],
|
|
"position_mm": [
|
|
261.81061589118383,
|
|
-115.19011144769874,
|
|
368.84553845712946
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.18600806534577977,
|
|
-0.11616968738730427,
|
|
0.178554940476556
|
|
],
|
|
"position_mm": [
|
|
186.00806534577976,
|
|
-116.16968738730426,
|
|
178.554940476556
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.2806875512192777,
|
|
-0.15628924366228833,
|
|
0.12546986112476805
|
|
],
|
|
"position_mm": [
|
|
280.6875512192777,
|
|
-156.28924366228833,
|
|
125.46986112476804
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.19184833991965963,
|
|
-0.1588110444335775,
|
|
0.1541085541921545
|
|
],
|
|
"position_mm": [
|
|
191.84833991965962,
|
|
-158.81104443357748,
|
|
154.1085541921545
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.31649171576692714,
|
|
-0.12704167499669905,
|
|
0.14283828221036787
|
|
],
|
|
"position_mm": [
|
|
316.49171576692714,
|
|
-127.04167499669904,
|
|
142.83828221036788
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.28332492937168813,
|
|
-0.16279038992752068,
|
|
0.15132331939023053
|
|
],
|
|
"position_mm": [
|
|
283.32492937168814,
|
|
-162.7903899275207,
|
|
151.32331939023052
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.24598460494843422,
|
|
-0.15941315985762228,
|
|
0.15060616958812506
|
|
],
|
|
"position_mm": [
|
|
245.98460494843422,
|
|
-159.41315985762228,
|
|
150.60616958812506
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |