1128 lines
21 KiB
JSON
1128 lines
21 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"stage": "initial_triangulation",
|
|
"created_utc": "2026-06-02T10:17:25Z",
|
|
"summary": {
|
|
"num_cameras": 7,
|
|
"num_markers": 52,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.29860435642298544,
|
|
-0.7989737188953816,
|
|
0.8053572016872256
|
|
],
|
|
"position_mm": [
|
|
-298.60435642298546,
|
|
-798.9737188953816,
|
|
805.3572016872256
|
|
],
|
|
"direction": [
|
|
0.47681212425231934,
|
|
0.6564357280731201,
|
|
-0.5845873355865479
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.30487125972248375,
|
|
-0.9001105936796677,
|
|
1.1964276641530223
|
|
],
|
|
"position_mm": [
|
|
304.8712597224837,
|
|
-900.1105936796678,
|
|
1196.4276641530223
|
|
],
|
|
"direction": [
|
|
0.004683269653469324,
|
|
0.6283239126205444,
|
|
-0.7779377102851868
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.32440277320231625,
|
|
-0.8961608222708353,
|
|
0.39538181254691507
|
|
],
|
|
"position_mm": [
|
|
324.40277320231627,
|
|
-896.1608222708353,
|
|
395.38181254691506
|
|
],
|
|
"direction": [
|
|
-0.1327180564403534,
|
|
0.9471269845962524,
|
|
-0.2921240031719208
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.7025223729217407,
|
|
-0.7948821102733414,
|
|
0.39697084793149384
|
|
],
|
|
"position_mm": [
|
|
702.5223729217407,
|
|
-794.8821102733415,
|
|
396.97084793149384
|
|
],
|
|
"direction": [
|
|
-0.5549365282058716,
|
|
0.783879816532135,
|
|
-0.2785280644893646
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.2316582864647396,
|
|
-0.8929830615675266,
|
|
0.39181392877650884
|
|
],
|
|
"position_mm": [
|
|
1231.6582864647396,
|
|
-892.9830615675266,
|
|
391.8139287765088
|
|
],
|
|
"direction": [
|
|
-0.7713589668273926,
|
|
0.5865152478218079,
|
|
-0.24699220061302185
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "f",
|
|
"position_m": [
|
|
0.5026508990092529,
|
|
-0.30417473684393315,
|
|
1.3963563930085523
|
|
],
|
|
"position_mm": [
|
|
502.65089900925284,
|
|
-304.17473684393315,
|
|
1396.3563930085522
|
|
],
|
|
"direction": [
|
|
-0.240851029753685,
|
|
0.0825331062078476,
|
|
-0.9670465588569641
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.20265086125819326,
|
|
0.20883043970876597,
|
|
1.391162199715044
|
|
],
|
|
"position_mm": [
|
|
-202.65086125819326,
|
|
208.83043970876597,
|
|
1391.1621997150442
|
|
],
|
|
"direction": [
|
|
0.3007599711418152,
|
|
-0.3040454089641571,
|
|
-0.9039357304573059
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 41,
|
|
"position_m": [
|
|
0.36957900771597085,
|
|
-0.15692008747057812,
|
|
0.16248850974920676
|
|
],
|
|
"position_mm": [
|
|
369.5790077159709,
|
|
-156.92008747057812,
|
|
162.48850974920674
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.0,
|
|
-0.9375276894468237,
|
|
0.34791066600565723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.37750412806503525,
|
|
-0.18993026329924498,
|
|
0.13746149375997985
|
|
],
|
|
"position_mm": [
|
|
377.5041280650353,
|
|
-189.93026329924498,
|
|
137.46149375997985
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.33212699211957203,
|
|
-0.14807528367426875,
|
|
0.13684465163622545
|
|
],
|
|
"position_mm": [
|
|
332.12699211957204,
|
|
-148.07528367426875,
|
|
136.84465163622545
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5340941306138902,
|
|
0.18220034745169977,
|
|
-0.02694038806263603
|
|
],
|
|
"position_mm": [
|
|
534.0941306138902,
|
|
182.20034745169977,
|
|
-26.940388062636032
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.34369322648515965,
|
|
-0.2881776720297541,
|
|
-0.027566947114133843
|
|
],
|
|
"position_mm": [
|
|
343.69322648515964,
|
|
-288.1776720297541,
|
|
-27.566947114133843
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6878586564332737,
|
|
-0.31874495314718215,
|
|
-0.027704254723255183
|
|
],
|
|
"position_mm": [
|
|
687.8586564332737,
|
|
-318.7449531471822,
|
|
-27.704254723255183
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16815394700162484,
|
|
-0.17328902953871678,
|
|
-0.027496658371324482
|
|
],
|
|
"position_mm": [
|
|
168.15394700162483,
|
|
-173.2890295387168,
|
|
-27.496658371324482
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"position_m": [
|
|
0.09317854429743924,
|
|
0.21389097527983963,
|
|
-0.027891812408313184
|
|
],
|
|
"position_mm": [
|
|
93.17854429743925,
|
|
213.89097527983964,
|
|
-27.891812408313182
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48839695911271874,
|
|
0.21432823741739174,
|
|
-0.027008326242021798
|
|
],
|
|
"position_mm": [
|
|
488.3969591127187,
|
|
214.32823741739173,
|
|
-27.0083262420218
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.33988683423863253,
|
|
-0.3275753820322237,
|
|
-0.02722713938953934
|
|
],
|
|
"position_mm": [
|
|
339.8868342386325,
|
|
-327.5753820322237,
|
|
-27.22713938953934
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.2845904023428838,
|
|
-0.2608999497359166,
|
|
-0.027739021269298923
|
|
],
|
|
"position_mm": [
|
|
284.5904023428838,
|
|
-260.8999497359166,
|
|
-27.739021269298924
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.5003704444413674,
|
|
0.1649288533211114,
|
|
-0.027506748990393782
|
|
],
|
|
"position_mm": [
|
|
500.37044444136734,
|
|
164.9288533211114,
|
|
-27.50674899039378
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"position_m": [
|
|
0.6040554376414567,
|
|
-0.36539281336346374,
|
|
-0.027113583360011427
|
|
],
|
|
"position_mm": [
|
|
604.0554376414567,
|
|
-365.39281336346374,
|
|
-27.113583360011425
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.04752672342219186,
|
|
-0.21685221458039947,
|
|
-0.02718209852431006
|
|
],
|
|
"position_mm": [
|
|
47.52672342219186,
|
|
-216.85221458039948,
|
|
-27.18209852431006
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6268543939549421,
|
|
-0.27712501010296753,
|
|
-0.026675423633631484
|
|
],
|
|
"position_mm": [
|
|
626.8543939549421,
|
|
-277.1250101029675,
|
|
-26.675423633631485
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"position_m": [
|
|
-0.022006333293197327,
|
|
0.3349163093538629,
|
|
-0.02739001098889621
|
|
],
|
|
"position_mm": [
|
|
-22.006333293197326,
|
|
334.9163093538629,
|
|
-27.39001098889621
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40192178389394534,
|
|
-0.1728603951413399,
|
|
-0.02810984926438802
|
|
],
|
|
"position_mm": [
|
|
401.92178389394536,
|
|
-172.86039514133992,
|
|
-28.10984926438802
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7763270208154885,
|
|
-0.23655625670658945,
|
|
-0.02805697723027046
|
|
],
|
|
"position_mm": [
|
|
776.3270208154886,
|
|
-236.55625670658944,
|
|
-28.05697723027046
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.01881697354089371,
|
|
-0.18968990601068492,
|
|
-0.027053401180916963
|
|
],
|
|
"position_mm": [
|
|
-18.81697354089371,
|
|
-189.68990601068492,
|
|
-27.053401180916964
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.20955811666215907,
|
|
-0.36405524786033266,
|
|
-0.02771841212619408
|
|
],
|
|
"position_mm": [
|
|
209.55811666215908,
|
|
-364.05524786033266,
|
|
-27.71841212619408
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5755163829703658,
|
|
0.17362249729773413,
|
|
-0.028035284783258174
|
|
],
|
|
"position_mm": [
|
|
575.5163829703657,
|
|
173.62249729773413,
|
|
-28.035284783258174
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.006117063708400811,
|
|
-0.2776744636824727,
|
|
-0.02721607482249281
|
|
],
|
|
"position_mm": [
|
|
6.117063708400811,
|
|
-277.6744636824727,
|
|
-27.21607482249281
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"position_m": [
|
|
0.7508328049821673,
|
|
-0.2853067179620011,
|
|
-0.02627957583180927
|
|
],
|
|
"position_mm": [
|
|
750.8328049821673,
|
|
-285.3067179620011,
|
|
-26.27957583180927
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4402764859002115,
|
|
0.19295570295334788,
|
|
-0.026101711372273576
|
|
],
|
|
"position_mm": [
|
|
440.2764859002115,
|
|
192.95570295334787,
|
|
-26.101711372273577
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 74,
|
|
"position_m": [
|
|
0.09426684419440759,
|
|
0.14170681844422797,
|
|
-0.027478893135309195
|
|
],
|
|
"position_mm": [
|
|
94.2668441944076,
|
|
141.70681844422796,
|
|
-27.478893135309196
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.02697461292719398,
|
|
0.19352841778749147,
|
|
-0.02776227255505772
|
|
],
|
|
"position_mm": [
|
|
-26.97461292719398,
|
|
193.52841778749146,
|
|
-27.76227255505772
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 77,
|
|
"position_m": [
|
|
0.014904082017258829,
|
|
0.19088717445284448,
|
|
-0.027787492204598974
|
|
],
|
|
"position_mm": [
|
|
14.904082017258828,
|
|
190.88717445284448,
|
|
-27.787492204598973
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.3113638957219632,
|
|
-0.15905321738590678,
|
|
-0.02701502759322781
|
|
],
|
|
"position_mm": [
|
|
311.3638957219632,
|
|
-159.05321738590678,
|
|
-27.01502759322781
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5064623839409471,
|
|
-0.31375038047007003,
|
|
-0.027248639383553458
|
|
],
|
|
"position_mm": [
|
|
506.4623839409471,
|
|
-313.75038047007,
|
|
-27.248639383553456
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6465144398065696,
|
|
-0.1869664004441315,
|
|
-0.027670139870649996
|
|
],
|
|
"position_mm": [
|
|
646.5144398065696,
|
|
-186.9664004441315,
|
|
-27.670139870649997
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18677172652915425,
|
|
-0.2764643862304834,
|
|
-0.027407445402151457
|
|
],
|
|
"position_mm": [
|
|
186.77172652915425,
|
|
-276.4643862304834,
|
|
-27.407445402151456
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.37195232606057926,
|
|
-0.18510943597206606,
|
|
-0.027196341252688046
|
|
],
|
|
"position_mm": [
|
|
371.95232606057925,
|
|
-185.10943597206605,
|
|
-27.196341252688047
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.3064531788079561,
|
|
-0.35861747532427246,
|
|
-0.02699417745732897
|
|
],
|
|
"position_mm": [
|
|
306.4531788079561,
|
|
-358.61747532427245,
|
|
-26.99417745732897
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6507977864606054,
|
|
-0.22356937591062057,
|
|
-0.026996619465960835
|
|
],
|
|
"position_mm": [
|
|
650.7977864606054,
|
|
-223.56937591062058,
|
|
-26.996619465960837
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10502330041398814,
|
|
-0.1909596190035657,
|
|
-0.027251754602928318
|
|
],
|
|
"position_mm": [
|
|
105.02330041398814,
|
|
-190.9596190035657,
|
|
-27.25175460292832
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"position_m": [
|
|
0.5224487024131319,
|
|
-0.2681651740348073,
|
|
-0.027554890317738792
|
|
],
|
|
"position_mm": [
|
|
522.4487024131319,
|
|
-268.16517403480725,
|
|
-27.554890317738792
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.4069026745285032,
|
|
-0.0718951556471294,
|
|
0.22965161215610932
|
|
],
|
|
"position_mm": [
|
|
406.9026745285032,
|
|
-71.8951556471294,
|
|
229.65161215610934
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 122,
|
|
"position_m": [
|
|
0.36377475693109007,
|
|
-0.01645417208380328,
|
|
0.2732341238630498
|
|
],
|
|
"position_mm": [
|
|
363.77475693109005,
|
|
-16.45417208380328,
|
|
273.2341238630498
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"position_m": [
|
|
0.3652946276392065,
|
|
-0.10606171582380484,
|
|
0.21391640062334538
|
|
],
|
|
"position_mm": [
|
|
365.2946276392065,
|
|
-106.06171582380485,
|
|
213.9164006233454
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
-1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.7531700543396209,
|
|
-0.09008138732559633,
|
|
-0.0007282296562509807
|
|
],
|
|
"position_mm": [
|
|
753.170054339621,
|
|
-90.08138732559632,
|
|
-0.7282296562509807
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6508266802590551,
|
|
-0.009190055076766757,
|
|
-0.001033333672672493
|
|
],
|
|
"position_mm": [
|
|
650.8266802590551,
|
|
-9.190055076766757,
|
|
-1.033333672672493
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3522033641922155,
|
|
-0.08853705919145728,
|
|
0.00040529459029734323
|
|
],
|
|
"position_mm": [
|
|
352.2033641922155,
|
|
-88.53705919145729,
|
|
0.4052945902973432
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021081784524575736,
|
|
-0.02081613398759841,
|
|
0.0011952856836910017
|
|
],
|
|
"position_mm": [
|
|
21.081784524575735,
|
|
-20.81613398759841,
|
|
1.1952856836910017
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.25267947012172554,
|
|
-0.008916172201431878,
|
|
0.0001846908434811784
|
|
],
|
|
"position_mm": [
|
|
252.67947012172553,
|
|
-8.916172201431879,
|
|
0.1846908434811784
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3475907098734316,
|
|
-0.010896754272138423,
|
|
0.00025098419568411333
|
|
],
|
|
"position_mm": [
|
|
347.5907098734316,
|
|
-10.896754272138423,
|
|
0.25098419568411334
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25039471092182314,
|
|
-0.08840963238454518,
|
|
0.0001771824109435435
|
|
],
|
|
"position_mm": [
|
|
250.39471092182313,
|
|
-88.40963238454518,
|
|
0.1771824109435435
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6469527623242388,
|
|
-0.08898527776365853,
|
|
-0.0006358553711182665
|
|
],
|
|
"position_mm": [
|
|
646.9527623242388,
|
|
-88.98527776365853,
|
|
-0.6358553711182665
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 231,
|
|
"position_m": [
|
|
0.38168656625152064,
|
|
0.10321843313469443,
|
|
0.3405078371106718
|
|
],
|
|
"position_mm": [
|
|
381.6865662515206,
|
|
103.21843313469444,
|
|
340.5078371106718
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 242,
|
|
"position_m": [
|
|
0.29077430744188554,
|
|
0.05537962430429376,
|
|
0.30451671124797464
|
|
],
|
|
"position_mm": [
|
|
290.7743074418855,
|
|
55.379624304293756,
|
|
304.5167112479746
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.2914103281535123,
|
|
0.08678768847187679,
|
|
0.3414173933253803
|
|
],
|
|
"position_mm": [
|
|
291.4103281535123,
|
|
86.78768847187679,
|
|
341.4173933253803
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"position_m": [
|
|
0.38155054166414476,
|
|
0.07043414878427337,
|
|
0.33380388217409
|
|
],
|
|
"position_mm": [
|
|
381.55054166414476,
|
|
70.43414878427338,
|
|
333.80388217409
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"position_m": [
|
|
0.34110500350533834,
|
|
0.07557730068118976,
|
|
0.339152170383015
|
|
],
|
|
"position_mm": [
|
|
341.10500350533835,
|
|
75.57730068118975,
|
|
339.152170383015
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
}
|
|
]
|
|
} |