805 lines
15 KiB
JSON
805 lines
15 KiB
JSON
{
|
|
"schema_version": "1.2",
|
|
"created_utc": "2026-06-03T04:36:56Z",
|
|
"summary": {
|
|
"num_cameras": 6,
|
|
"num_markers": 36,
|
|
"num_constraints": 94
|
|
},
|
|
"cameras": [
|
|
{
|
|
"camera_id": "a",
|
|
"position_m": [
|
|
-0.30124957039980904,
|
|
-0.7944876545661685,
|
|
0.8037787426157785
|
|
],
|
|
"position_mm": [
|
|
-301.24957039980904,
|
|
-794.4876545661685,
|
|
803.7787426157786
|
|
],
|
|
"direction": [
|
|
0.47980576753616333,
|
|
0.6539319157600403,
|
|
-0.5849440097808838
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "b",
|
|
"position_m": [
|
|
0.29717288049224716,
|
|
-0.8887366669190728,
|
|
1.2029439521855916
|
|
],
|
|
"position_mm": [
|
|
297.17288049224715,
|
|
-888.7366669190728,
|
|
1202.9439521855916
|
|
],
|
|
"direction": [
|
|
0.010270745493471622,
|
|
0.6205654144287109,
|
|
-0.7840874195098877
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "c",
|
|
"position_m": [
|
|
0.3025716400208697,
|
|
-0.9019776711250698,
|
|
0.39818619728372245
|
|
],
|
|
"position_mm": [
|
|
302.5716400208697,
|
|
-901.9776711250697,
|
|
398.18619728372244
|
|
],
|
|
"direction": [
|
|
-0.10782834142446518,
|
|
0.9495705962181091,
|
|
-0.2944294512271881
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "d",
|
|
"position_m": [
|
|
0.7010643463118735,
|
|
-0.7940689865992328,
|
|
0.40229983605243974
|
|
],
|
|
"position_mm": [
|
|
701.0643463118736,
|
|
-794.0689865992327,
|
|
402.29983605243973
|
|
],
|
|
"direction": [
|
|
-0.5524550080299377,
|
|
0.7830438613891602,
|
|
-0.285719633102417
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "e",
|
|
"position_m": [
|
|
1.2047895519114378,
|
|
-0.909711288880933,
|
|
0.41070428458266445
|
|
],
|
|
"position_mm": [
|
|
1204.7895519114377,
|
|
-909.711288880933,
|
|
410.70428458266446
|
|
],
|
|
"direction": [
|
|
-0.7462964057922363,
|
|
0.608277440071106,
|
|
-0.2702595889568329
|
|
]
|
|
},
|
|
{
|
|
"camera_id": "g",
|
|
"position_m": [
|
|
-0.20892576741721647,
|
|
0.20128727403677504,
|
|
1.401691703675199
|
|
],
|
|
"position_mm": [
|
|
-208.92576741721646,
|
|
201.28727403677505,
|
|
1401.691703675199
|
|
],
|
|
"direction": [
|
|
0.30114462971687317,
|
|
-0.2968323230743408,
|
|
-0.9062021970748901
|
|
]
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 42,
|
|
"position_m": [
|
|
0.21437605596483258,
|
|
-0.07794758263763338,
|
|
0.3422704665652462
|
|
],
|
|
"position_mm": [
|
|
214.37605596483257,
|
|
-77.94758263763337,
|
|
342.2704665652462
|
|
],
|
|
"link": "FingerA",
|
|
"normal": [
|
|
0.8830215713766957,
|
|
-0.3090575499818435,
|
|
0.3532086285506783
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"position_m": [
|
|
0.26843863139244306,
|
|
-0.07413413114602073,
|
|
0.33977183336256844
|
|
],
|
|
"position_mm": [
|
|
268.4386313924431,
|
|
-74.13413114602074,
|
|
339.77183336256843
|
|
],
|
|
"link": "FingerB",
|
|
"normal": [
|
|
0.4224220616915755,
|
|
0.0,
|
|
0.9063992507699015
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"position_m": [
|
|
0.6876568699106941,
|
|
-0.31897670857726595,
|
|
-0.027371383657067233
|
|
],
|
|
"position_mm": [
|
|
687.6568699106941,
|
|
-318.976708577266,
|
|
-27.371383657067234
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"position_m": [
|
|
0.1678361142280478,
|
|
-0.17391596071185703,
|
|
-0.02722223751398218
|
|
],
|
|
"position_mm": [
|
|
167.83611422804782,
|
|
-173.91596071185702,
|
|
-27.22223751398218
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"position_m": [
|
|
0.34052199951627005,
|
|
-0.32690471568881146,
|
|
-0.027775422604867157
|
|
],
|
|
"position_mm": [
|
|
340.52199951627006,
|
|
-326.90471568881145,
|
|
-27.775422604867156
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"position_m": [
|
|
0.28426516126583373,
|
|
-0.2609643990085619,
|
|
-0.02714892399773065
|
|
],
|
|
"position_mm": [
|
|
284.26516126583374,
|
|
-260.9643990085619,
|
|
-27.14892399773065
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"position_m": [
|
|
0.048598785522739794,
|
|
-0.21706397539247171,
|
|
-0.026656129366645093
|
|
],
|
|
"position_mm": [
|
|
48.598785522739796,
|
|
-217.06397539247172,
|
|
-26.656129366645093
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"position_m": [
|
|
0.6249718926206644,
|
|
-0.2774639054775775,
|
|
-0.023834879836890286
|
|
],
|
|
"position_mm": [
|
|
624.9718926206644,
|
|
-277.4639054775775,
|
|
-23.834879836890288
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"position_m": [
|
|
0.4030365691743229,
|
|
-0.1721572079856988,
|
|
-0.02836590948574496
|
|
],
|
|
"position_mm": [
|
|
403.0365691743229,
|
|
-172.15720798569882,
|
|
-28.36590948574496
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"position_m": [
|
|
0.7760672114333635,
|
|
-0.23582099402104406,
|
|
-0.028005806111723607
|
|
],
|
|
"position_mm": [
|
|
776.0672114333636,
|
|
-235.82099402104407,
|
|
-28.005806111723608
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"position_m": [
|
|
-0.022142575478979954,
|
|
-0.18584893330731092,
|
|
-0.029171150850359075
|
|
],
|
|
"position_mm": [
|
|
-22.142575478979953,
|
|
-185.84893330731092,
|
|
-29.171150850359076
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"position_m": [
|
|
0.005436083892323789,
|
|
-0.27969846769234386,
|
|
-0.02682848353776247
|
|
],
|
|
"position_mm": [
|
|
5.436083892323789,
|
|
-279.69846769234385,
|
|
-26.82848353776247
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"position_m": [
|
|
0.44092091897949726,
|
|
0.19289891331848855,
|
|
-0.026888088345598218
|
|
],
|
|
"position_mm": [
|
|
440.92091897949723,
|
|
192.89891331848855,
|
|
-26.888088345598216
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"position_m": [
|
|
0.31231743952980845,
|
|
-0.15856803343989997,
|
|
-0.027223573775750493
|
|
],
|
|
"position_mm": [
|
|
312.31743952980844,
|
|
-158.56803343989998,
|
|
-27.22357377575049
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"position_m": [
|
|
0.5059731534664645,
|
|
-0.3142991524120428,
|
|
-0.02697709292404502
|
|
],
|
|
"position_mm": [
|
|
505.97315346646457,
|
|
-314.2991524120428,
|
|
-26.977092924045017
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"position_m": [
|
|
0.36188821621032535,
|
|
0.29408073871910506,
|
|
-0.027591467490371422
|
|
],
|
|
"position_mm": [
|
|
361.88821621032537,
|
|
294.08073871910506,
|
|
-27.59146749037142
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"position_m": [
|
|
0.6483028928736867,
|
|
-0.18528242112446525,
|
|
-0.02911585857052714
|
|
],
|
|
"position_mm": [
|
|
648.3028928736867,
|
|
-185.28242112446526,
|
|
-29.11585857052714
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"position_m": [
|
|
0.18643292387840876,
|
|
-0.27584098431513693,
|
|
-0.027561884931761173
|
|
],
|
|
"position_mm": [
|
|
186.43292387840876,
|
|
-275.84098431513695,
|
|
-27.561884931761174
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"position_m": [
|
|
0.3694015526666946,
|
|
-0.18670491827766955,
|
|
-0.025742726317158727
|
|
],
|
|
"position_mm": [
|
|
369.4015526666946,
|
|
-186.70491827766955,
|
|
-25.742726317158727
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"position_m": [
|
|
0.30508017422830597,
|
|
-0.3588644938329316,
|
|
-0.02532156940312829
|
|
],
|
|
"position_mm": [
|
|
305.08017422830596,
|
|
-358.8644938329316,
|
|
-25.32156940312829
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"position_m": [
|
|
0.6520543023610397,
|
|
-0.22350726074752778,
|
|
-0.027655068941548743
|
|
],
|
|
"position_mm": [
|
|
652.0543023610396,
|
|
-223.50726074752777,
|
|
-27.655068941548745
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"position_m": [
|
|
0.1058192853467793,
|
|
-0.18982196499735193,
|
|
-0.027843252309062164
|
|
],
|
|
"position_mm": [
|
|
105.8192853467793,
|
|
-189.82196499735193,
|
|
-27.843252309062162
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"position_m": [
|
|
0.2719402653816159,
|
|
-0.16223381693462022,
|
|
0.2356046605092392
|
|
],
|
|
"position_mm": [
|
|
271.9402653816159,
|
|
-162.23381693462022,
|
|
235.6046605092392
|
|
],
|
|
"link": "Arm2",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"position_m": [
|
|
0.17099730236981386,
|
|
-0.05273843604080535,
|
|
0.0905636762542449
|
|
],
|
|
"position_mm": [
|
|
170.99730236981387,
|
|
-52.738436040805354,
|
|
90.5636762542449
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"position_m": [
|
|
0.6503942760822801,
|
|
-0.010683298472711303,
|
|
0.00030966473960124296
|
|
],
|
|
"position_mm": [
|
|
650.39427608228,
|
|
-10.683298472711304,
|
|
0.30966473960124297
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"position_m": [
|
|
0.3528357062184244,
|
|
-0.09144557020480185,
|
|
0.001273866531994687
|
|
],
|
|
"position_mm": [
|
|
352.83570621842443,
|
|
-91.44557020480184,
|
|
1.2738665319946871
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"position_m": [
|
|
0.021798766544210944,
|
|
-0.018595068506787677,
|
|
0.0001819706187886238
|
|
],
|
|
"position_mm": [
|
|
21.798766544210945,
|
|
-18.595068506787676,
|
|
0.1819706187886238
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"position_m": [
|
|
0.3486881408575289,
|
|
-0.011557578144104833,
|
|
0.0004339685867064704
|
|
],
|
|
"position_mm": [
|
|
348.68814085752894,
|
|
-11.557578144104832,
|
|
0.4339685867064704
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"position_m": [
|
|
0.25052913603482635,
|
|
-0.08884023343203613,
|
|
-3.0146222226029325e-05
|
|
],
|
|
"position_mm": [
|
|
250.52913603482634,
|
|
-88.84023343203613,
|
|
-0.030146222226029324
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"position_m": [
|
|
0.6468993590232569,
|
|
-0.09060193949069598,
|
|
-0.0005828042500403551
|
|
],
|
|
"position_mm": [
|
|
646.8993590232569,
|
|
-90.60193949069598,
|
|
-0.5828042500403551
|
|
],
|
|
"link": "Board",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"position_m": [
|
|
0.16760513862889592,
|
|
-0.1424927140681516,
|
|
0.08484826969940425
|
|
],
|
|
"position_mm": [
|
|
167.60513862889593,
|
|
-142.4927140681516,
|
|
84.84826969940424
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"position_m": [
|
|
0.2592423505480444,
|
|
-0.1677994137749335,
|
|
0.0284446372976091
|
|
],
|
|
"position_mm": [
|
|
259.2423505480444,
|
|
-167.7994137749335,
|
|
28.4446372976091
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.7071067811865475,
|
|
-0.7071067811865475
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"position_m": [
|
|
0.17049332157617011,
|
|
-0.17377216234998275,
|
|
0.04659540278314503
|
|
],
|
|
"position_mm": [
|
|
170.4933215761701,
|
|
-173.77216234998275,
|
|
46.595402783145026
|
|
],
|
|
"link": "Arm1",
|
|
"normal": [
|
|
0.0,
|
|
-1.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"position_m": [
|
|
0.2959974675577261,
|
|
-0.14199713108317408,
|
|
0.04924716708203143
|
|
],
|
|
"position_mm": [
|
|
295.9974675577261,
|
|
-141.99713108317408,
|
|
49.24716708203143
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"position_m": [
|
|
0.26206761022376474,
|
|
-0.17782637520836378,
|
|
0.0531246493443703
|
|
],
|
|
"position_mm": [
|
|
262.06761022376475,
|
|
-177.82637520836377,
|
|
53.1246493443703
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"position_m": [
|
|
0.2248084873800019,
|
|
-0.17383229965132987,
|
|
0.05169807471306448
|
|
],
|
|
"position_mm": [
|
|
224.80848738000188,
|
|
-173.83229965132986,
|
|
51.69807471306448
|
|
],
|
|
"link": "Ellbow",
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
-1.0
|
|
]
|
|
}
|
|
]
|
|
} |