739 lines
15 KiB
JSON
739 lines
15 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-05-31T08:28:04Z",
|
|
"summary": {
|
|
"num_cameras": 7,
|
|
"num_markers": 52,
|
|
"num_constraints": 89
|
|
},
|
|
"markers": [
|
|
{
|
|
"marker_id": 41,
|
|
"position_m": [
|
|
0.19091674724652413,
|
|
-0.13362063065196783,
|
|
0.391714803897708
|
|
],
|
|
"position_mm": [
|
|
190.91674724652412,
|
|
-133.62063065196784,
|
|
391.714803897708
|
|
],
|
|
"link": "FingerA"
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.17981794468741108,
|
|
-0.12238358268856689,
|
|
0.436423760558274
|
|
],
|
|
"position_mm": [
|
|
179.81794468741109,
|
|
-122.38358268856689,
|
|
436.42376055827395
|
|
],
|
|
"link": "FingerA"
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.2198646572661407,
|
|
-0.9302572339816068,
|
|
1.8051727557685375
|
|
],
|
|
"position_mm": [
|
|
219.8646572661407,
|
|
-930.2572339816068,
|
|
1805.1727557685376
|
|
],
|
|
"link": "FingerB"
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"position_m": [
|
|
0.5515146435069594,
|
|
0.19500057747376415,
|
|
-0.04500122928792412
|
|
],
|
|
"position_mm": [
|
|
551.5146435069595,
|
|
195.00057747376414,
|
|
-45.00122928792412
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"position_m": [
|
|
0.3428834136690239,
|
|
-0.2890822843070079,
|
|
-0.028612710280062223
|
|
],
|
|
"position_mm": [
|
|
342.8834136690239,
|
|
-289.0822843070079,
|
|
-28.612710280062224
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.16641124025947127,
|
|
-0.16837391430601442,
|
|
-0.03430844178223366
|
|
],
|
|
"position_mm": [
|
|
166.41124025947127,
|
|
-168.37391430601443,
|
|
-34.308441782233665
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"position_m": [
|
|
0.48880935535588627,
|
|
0.2132066360224702,
|
|
-0.028870566182154427
|
|
],
|
|
"position_mm": [
|
|
488.8093553558863,
|
|
213.2066360224702,
|
|
-28.870566182154427
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.3386862077152801,
|
|
-0.32730396428264397,
|
|
-0.007031931003196807
|
|
],
|
|
"position_mm": [
|
|
338.6862077152801,
|
|
-327.30396428264396,
|
|
-7.031931003196807
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.28361239747834693,
|
|
-0.26222218406722875,
|
|
-0.02759942516476079
|
|
],
|
|
"position_mm": [
|
|
283.6123974783469,
|
|
-262.22218406722874,
|
|
-27.599425164760788
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"position_m": [
|
|
0.5125876682325737,
|
|
0.18193538792325814,
|
|
-0.05144391273294694
|
|
],
|
|
"position_mm": [
|
|
512.5876682325737,
|
|
181.93538792325813,
|
|
-51.44391273294694
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.050421897546164336,
|
|
-0.2190122282070235,
|
|
-0.028868282054584127
|
|
],
|
|
"position_mm": [
|
|
50.42189754616434,
|
|
-219.01222820702353,
|
|
-28.868282054584128
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"position_m": [
|
|
0.43636225352772856,
|
|
0.2858262922794864,
|
|
-0.030073089496134943
|
|
],
|
|
"position_mm": [
|
|
436.36225352772857,
|
|
285.82629227948644,
|
|
-30.073089496134944
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"position_m": [
|
|
-0.011012732131703971,
|
|
0.36311227211010033,
|
|
-0.058125923960517974
|
|
],
|
|
"position_mm": [
|
|
-11.012732131703972,
|
|
363.1122721101003,
|
|
-58.12592396051797
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.40414404139609716,
|
|
-0.18033612936689938,
|
|
-0.028131830186637292
|
|
],
|
|
"position_mm": [
|
|
404.1440413960972,
|
|
-180.33612936689937,
|
|
-28.13183018663729
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7943951765460796,
|
|
-0.24542479478373536,
|
|
-0.04712969505631171
|
|
],
|
|
"position_mm": [
|
|
794.3951765460796,
|
|
-245.42479478373536,
|
|
-47.12969505631171
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.020223527455812237,
|
|
-0.18751157094200208,
|
|
-0.02745968657670314
|
|
],
|
|
"position_mm": [
|
|
-20.22352745581224,
|
|
-187.51157094200207,
|
|
-27.45968657670314
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"position_m": [
|
|
0.2111744248457926,
|
|
-0.3584765623097194,
|
|
-0.02338466253078028
|
|
],
|
|
"position_mm": [
|
|
211.1744248457926,
|
|
-358.47656230971944,
|
|
-23.384662530780282
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"position_m": [
|
|
0.5701958849694284,
|
|
0.17099158392924751,
|
|
-0.019231095033085156
|
|
],
|
|
"position_mm": [
|
|
570.1958849694284,
|
|
170.99158392924753,
|
|
-19.231095033085158
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.017406287206439594,
|
|
-0.2743082656978075,
|
|
0.011609762356993186
|
|
],
|
|
"position_mm": [
|
|
17.406287206439593,
|
|
-274.3082656978075,
|
|
11.609762356993185
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.4422686193091757,
|
|
0.19943038363278723,
|
|
-0.03258249446526934
|
|
],
|
|
"position_mm": [
|
|
442.26861930917573,
|
|
199.43038363278723,
|
|
-32.58249446526934
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"position_m": [
|
|
-0.02758649432627508,
|
|
0.19673344957621075,
|
|
-0.03295243921373591
|
|
],
|
|
"position_mm": [
|
|
-27.58649432627508,
|
|
196.73344957621075,
|
|
-32.952439213735914
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31074838224070217,
|
|
-0.1623112191768222,
|
|
-0.027622834759464112
|
|
],
|
|
"position_mm": [
|
|
310.74838224070214,
|
|
-162.3112191768222,
|
|
-27.622834759464112
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"position_m": [
|
|
0.21729087104596967,
|
|
0.29986222427078535,
|
|
-0.028740851087205716
|
|
],
|
|
"position_mm": [
|
|
217.29087104596968,
|
|
299.86222427078536,
|
|
-28.740851087205716
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"position_m": [
|
|
0.0418956791225651,
|
|
0.337919801876886,
|
|
-0.026338679008076994
|
|
],
|
|
"position_mm": [
|
|
41.8956791225651,
|
|
337.91980187688597,
|
|
-26.338679008076994
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"position_m": [
|
|
0.4074513356481958,
|
|
0.26280333169338244,
|
|
-0.030939648939052596
|
|
],
|
|
"position_mm": [
|
|
407.4513356481958,
|
|
262.80333169338246,
|
|
-30.939648939052596
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5046508170222919,
|
|
-0.31445383848139624,
|
|
-0.028873238926469147
|
|
],
|
|
"position_mm": [
|
|
504.65081702229185,
|
|
-314.45383848139625,
|
|
-28.873238926469146
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.36098377107118107,
|
|
0.2937051502563704,
|
|
-0.02912630361657115
|
|
],
|
|
"position_mm": [
|
|
360.9837710711811,
|
|
293.7051502563704,
|
|
-29.12630361657115
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6477104929451231,
|
|
-0.18762012107638923,
|
|
-0.026743632886616613
|
|
],
|
|
"position_mm": [
|
|
647.7104929451231,
|
|
-187.62012107638924,
|
|
-26.743632886616613
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18610790017322354,
|
|
-0.26971525661464685,
|
|
-0.025557225614988778
|
|
],
|
|
"position_mm": [
|
|
186.10790017322353,
|
|
-269.7152566146469,
|
|
-25.557225614988777
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.36848386694126756,
|
|
-0.18905285677830821,
|
|
-0.029618791429589588
|
|
],
|
|
"position_mm": [
|
|
368.48386694126754,
|
|
-189.0528567783082,
|
|
-29.61879142958959
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.30554775111131205,
|
|
-0.3537183867460603,
|
|
-0.02911556039551699
|
|
],
|
|
"position_mm": [
|
|
305.54775111131204,
|
|
-353.71838674606033,
|
|
-29.11556039551699
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.653716055275613,
|
|
-0.22518609299410433,
|
|
-0.032228885537022425
|
|
],
|
|
"position_mm": [
|
|
653.716055275613,
|
|
-225.18609299410434,
|
|
-32.22888553702243
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.10564622169644007,
|
|
-0.18790178276455521,
|
|
-0.029236671572709316
|
|
],
|
|
"position_mm": [
|
|
105.64622169644007,
|
|
-187.9017827645552,
|
|
-29.236671572709316
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"position_m": [
|
|
0.5263956089399286,
|
|
-0.26863373417016084,
|
|
-0.028242940507888538
|
|
],
|
|
"position_mm": [
|
|
526.3956089399287,
|
|
-268.63373417016084,
|
|
-28.242940507888537
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 114,
|
|
"position_m": [
|
|
0.23021564638533895,
|
|
-0.14051270542091981,
|
|
0.4195566279581585
|
|
],
|
|
"position_mm": [
|
|
230.21564638533894,
|
|
-140.51270542091981,
|
|
419.5566279581585
|
|
],
|
|
"link": "Arm2"
|
|
},
|
|
{
|
|
"marker_id": 120,
|
|
"position_m": [
|
|
0.2362774679543565,
|
|
-0.1688226250203692,
|
|
0.3558206843790403
|
|
],
|
|
"position_mm": [
|
|
236.2774679543565,
|
|
-168.8226250203692,
|
|
355.8206843790403
|
|
],
|
|
"link": "Arm2"
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.14807875002288406,
|
|
-0.09185093681582378,
|
|
0.27377628501768386
|
|
],
|
|
"position_mm": [
|
|
148.07875002288407,
|
|
-91.85093681582377,
|
|
273.77628501768385
|
|
],
|
|
"link": "Arm1"
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"position_m": [
|
|
0.749117556245474,
|
|
-0.09456696161811358,
|
|
0.01178506264505542
|
|
],
|
|
"position_mm": [
|
|
749.117556245474,
|
|
-94.56696161811358,
|
|
11.785062645055419
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6468916814180501,
|
|
-0.013901652725915165,
|
|
0.00766545214196546
|
|
],
|
|
"position_mm": [
|
|
646.8916814180501,
|
|
-13.901652725915165,
|
|
7.66545214196546
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"position_m": [
|
|
0.7467467337360866,
|
|
-0.014611150344992925,
|
|
0.01299878728601802
|
|
],
|
|
"position_mm": [
|
|
746.7467337360865,
|
|
-14.611150344992925,
|
|
12.99878728601802
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.34855086927162976,
|
|
-0.09415638209579202,
|
|
0.002128149610782971
|
|
],
|
|
"position_mm": [
|
|
348.5508692716298,
|
|
-94.15638209579203,
|
|
2.128149610782971
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.018387582231956228,
|
|
-0.019010273753417566,
|
|
0.002252226193856563
|
|
],
|
|
"position_mm": [
|
|
18.387582231956227,
|
|
-19.010273753417565,
|
|
2.252226193856563
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"position_m": [
|
|
0.2500061228976326,
|
|
-0.011645110290511112,
|
|
0.002533013343713475
|
|
],
|
|
"position_mm": [
|
|
250.00612289763257,
|
|
-11.645110290511111,
|
|
2.533013343713475
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3504173761158368,
|
|
-0.014213369457365238,
|
|
0.004505513080610183
|
|
],
|
|
"position_mm": [
|
|
350.41737611583676,
|
|
-14.213369457365237,
|
|
4.505513080610183
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25160663814999895,
|
|
-0.09162865755151377,
|
|
0.002799479905721286
|
|
],
|
|
"position_mm": [
|
|
251.60663814999896,
|
|
-91.62865755151377,
|
|
2.799479905721286
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6500045549190887,
|
|
-0.09377335693718958,
|
|
0.0043702763996671164
|
|
],
|
|
"position_mm": [
|
|
650.0045549190887,
|
|
-93.77335693718958,
|
|
4.370276399667117
|
|
],
|
|
"link": "Board"
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"position_m": [
|
|
0.2511915866099635,
|
|
-0.15513304420960727,
|
|
0.3382688189924993
|
|
],
|
|
"position_mm": [
|
|
251.19158660996348,
|
|
-155.13304420960728,
|
|
338.2688189924993
|
|
],
|
|
"link": "Arm2"
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"position_m": [
|
|
0.24788159540795648,
|
|
-0.11062800350656175,
|
|
0.4492507497205348
|
|
],
|
|
"position_mm": [
|
|
247.8815954079565,
|
|
-110.62800350656175,
|
|
449.2507497205348
|
|
],
|
|
"link": "Arm2"
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.1589420529093642,
|
|
-0.17073517279890352,
|
|
0.2318327199519436
|
|
],
|
|
"position_mm": [
|
|
158.9420529093642,
|
|
-170.7351727989035,
|
|
231.8327199519436
|
|
],
|
|
"link": "Arm1"
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.18756536168652974,
|
|
-0.15845303837756924,
|
|
0.19336359382701007
|
|
],
|
|
"position_mm": [
|
|
187.56536168652974,
|
|
-158.45303837756924,
|
|
193.36359382701008
|
|
],
|
|
"link": "Arm1"
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.2730730015351699,
|
|
-0.056863366924819476,
|
|
0.1553396316860458
|
|
],
|
|
"position_mm": [
|
|
273.0730015351699,
|
|
-56.86336692481947,
|
|
155.3396316860458
|
|
],
|
|
"link": "Ellbow"
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.26791813880435655,
|
|
-0.10595579484391113,
|
|
0.15905632328375202
|
|
],
|
|
"position_mm": [
|
|
267.91813880435654,
|
|
-105.95579484391112,
|
|
159.05632328375202
|
|
],
|
|
"link": "Ellbow"
|
|
}
|
|
]
|
|
} |