2368 lines
41 KiB
JSON
2368 lines
41 KiB
JSON
[
|
|
{
|
|
"name": "Board_marker_210",
|
|
"id": 210,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.019999999552965164,
|
|
-0.019999999552965164,
|
|
0.000800000037997961
|
|
],
|
|
"position_mm": [
|
|
19.999999552965164,
|
|
-19.999999552965164,
|
|
0.800000037997961
|
|
],
|
|
"rotation_quaternion": [
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_211",
|
|
"id": 211,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.25,
|
|
-0.009999999776482582,
|
|
0.000800000037997961
|
|
],
|
|
"position_mm": [
|
|
250.0,
|
|
-9.999999776482582,
|
|
0.800000037997961
|
|
],
|
|
"rotation_quaternion": [
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_215",
|
|
"id": 215,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.25,
|
|
-0.09000000357627869,
|
|
0.000800000037997961
|
|
],
|
|
"position_mm": [
|
|
250.0,
|
|
-90.00000357627869,
|
|
0.800000037997961
|
|
],
|
|
"rotation_quaternion": [
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_214",
|
|
"id": 214,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.3499999940395355,
|
|
-0.009999999776482582,
|
|
0.000800000037997961
|
|
],
|
|
"position_mm": [
|
|
349.9999940395355,
|
|
-9.999999776482582,
|
|
0.800000037997961
|
|
],
|
|
"rotation_quaternion": [
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_208",
|
|
"id": 208,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.3499999940395355,
|
|
-0.09000000357627869,
|
|
0.000800000037997961
|
|
],
|
|
"position_mm": [
|
|
349.9999940395355,
|
|
-90.00000357627869,
|
|
0.800000037997961
|
|
],
|
|
"rotation_quaternion": [
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_206",
|
|
"id": 206,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6499999761581421,
|
|
-0.009999999776482582,
|
|
0.000800000037997961
|
|
],
|
|
"position_mm": [
|
|
649.9999761581421,
|
|
-9.999999776482582,
|
|
0.800000037997961
|
|
],
|
|
"rotation_quaternion": [
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_205",
|
|
"id": 205,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.75,
|
|
-0.09000000357627869,
|
|
0.000800000037997961
|
|
],
|
|
"position_mm": [
|
|
750.0,
|
|
-90.00000357627869,
|
|
0.800000037997961
|
|
],
|
|
"rotation_quaternion": [
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_207",
|
|
"id": 207,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.75,
|
|
-0.009999999776482582,
|
|
0.000800000037997961
|
|
],
|
|
"position_mm": [
|
|
750.0,
|
|
-9.999999776482582,
|
|
0.800000037997961
|
|
],
|
|
"rotation_quaternion": [
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_217",
|
|
"id": 217,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6499999761581421,
|
|
-0.09000000357627869,
|
|
0.000800000037997961
|
|
],
|
|
"position_mm": [
|
|
649.9999761581421,
|
|
-90.00000357627869,
|
|
0.800000037997961
|
|
],
|
|
"rotation_quaternion": [
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_46",
|
|
"id": 46,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5367100238800049,
|
|
0.18544000387191772,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
536.7100238800049,
|
|
185.44000387191772,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_47",
|
|
"id": 47,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.3442299962043762,
|
|
-0.2865400016307831,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
344.2299962043762,
|
|
-286.5400016307831,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_48",
|
|
"id": 48,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6886900067329407,
|
|
-0.32071998715400696,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
688.6900067329407,
|
|
-320.71998715400696,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_49",
|
|
"id": 49,
|
|
"link": "Board",
|
|
"position_m": [
|
|
1.00600004196167,
|
|
0.15832999348640442,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
1006.0000419616699,
|
|
158.32999348640442,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_50",
|
|
"id": 50,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5734099745750427,
|
|
0.21186000108718872,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
573.4099745750427,
|
|
211.86000108718872,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_51",
|
|
"id": 51,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.16779999434947968,
|
|
-0.17207999527454376,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
167.79999434947968,
|
|
-172.07999527454376,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_52",
|
|
"id": 52,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.09467999637126923,
|
|
0.20866000652313232,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
94.67999637126923,
|
|
208.66000652313232,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_53",
|
|
"id": 53,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.48625001311302185,
|
|
0.21223999559879303,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
486.25001311302185,
|
|
212.23999559879303,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_54",
|
|
"id": 54,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.34226998686790466,
|
|
-0.33059000968933105,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
342.26998686790466,
|
|
-330.59000968933105,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_55",
|
|
"id": 55,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.2837199866771698,
|
|
-0.262580007314682,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
283.7199866771698,
|
|
-262.580007314682,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_56",
|
|
"id": 56,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.4986799955368042,
|
|
0.16866999864578247,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
498.6799955368042,
|
|
168.66999864578247,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_57",
|
|
"id": 57,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6028599739074707,
|
|
-0.3640500009059906,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
602.8599739074707,
|
|
-364.0500009059906,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_58",
|
|
"id": 58,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.0500900000333786,
|
|
-0.21810999512672424,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
50.0900000333786,
|
|
-218.10999512672424,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_59",
|
|
"id": 59,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6262099742889404,
|
|
-0.2787500023841858,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
626.2099742889404,
|
|
-278.7500023841858,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_60",
|
|
"id": 60,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.43435999751091003,
|
|
0.28380998969078064,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
434.35999751091003,
|
|
283.80998969078064,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_61",
|
|
"id": 61,
|
|
"link": "Board",
|
|
"position_m": [
|
|
-0.022420000284910202,
|
|
0.3358300030231476,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
-22.420000284910202,
|
|
335.8300030231476,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_62",
|
|
"id": 62,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.40470001101493835,
|
|
-0.17509999871253967,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
404.70001101493835,
|
|
-175.09999871253967,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_63",
|
|
"id": 63,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.777400016784668,
|
|
-0.23614999651908875,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
777.400016784668,
|
|
-236.14999651908875,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_64",
|
|
"id": 64,
|
|
"link": "Board",
|
|
"position_m": [
|
|
-0.02126999944448471,
|
|
-0.1882299929857254,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
-21.26999944448471,
|
|
-188.2299929857254,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_65",
|
|
"id": 65,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.8033900260925293,
|
|
-0.29736998677253723,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
803.3900260925293,
|
|
-297.36998677253723,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_66",
|
|
"id": 66,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.2097499966621399,
|
|
-0.36322999000549316,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
209.7499966621399,
|
|
-363.22999000549316,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_67",
|
|
"id": 67,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5230699777603149,
|
|
0.2670400142669678,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
523.0699777603149,
|
|
267.0400142669678,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_68",
|
|
"id": 68,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5737299919128418,
|
|
0.1706400066614151,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
573.7299919128418,
|
|
170.6400066614151,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_69",
|
|
"id": 69,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.00761000020429492,
|
|
-0.2812100052833557,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
7.61000020429492,
|
|
-281.2100052833557,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_70",
|
|
"id": 70,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6018700003623962,
|
|
0.3003300130367279,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
601.8700003623962,
|
|
300.3300130367279,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_71",
|
|
"id": 71,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.749750018119812,
|
|
-0.28400999307632446,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
749.750018119812,
|
|
-284.00999307632446,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_72",
|
|
"id": 72,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.44099000096321106,
|
|
0.19431999325752258,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
440.99000096321106,
|
|
194.31999325752258,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_73",
|
|
"id": 73,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.22172999382019043,
|
|
0.3331100046634674,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
221.72999382019043,
|
|
333.1100046634674,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_74",
|
|
"id": 74,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.09378000348806381,
|
|
0.1445000022649765,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
93.78000348806381,
|
|
144.5000022649765,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_75",
|
|
"id": 75,
|
|
"link": "Board",
|
|
"position_m": [
|
|
-0.025699999183416367,
|
|
0.19458000361919403,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
-25.699999183416367,
|
|
194.58000361919403,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_76",
|
|
"id": 76,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6852099895477295,
|
|
0.16680000722408295,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
685.2099895477295,
|
|
166.80000722408295,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_77",
|
|
"id": 77,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.01819000020623207,
|
|
0.1915699988603592,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
18.19000020623207,
|
|
191.5699988603592,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_78",
|
|
"id": 78,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.8231099843978882,
|
|
-0.3443799912929535,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
823.1099843978882,
|
|
-344.3799912929535,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_79",
|
|
"id": 79,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.3122999966144562,
|
|
-0.15910999476909637,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
312.2999966144562,
|
|
-159.10999476909637,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_80",
|
|
"id": 80,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.8635900020599365,
|
|
-0.3359200060367584,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
863.5900020599365,
|
|
-335.9200060367584,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_81",
|
|
"id": 81,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.13213999569416046,
|
|
0.16902999579906464,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
132.13999569416046,
|
|
169.02999579906464,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_82",
|
|
"id": 82,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.21916000545024872,
|
|
0.2972399890422821,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
219.16000545024872,
|
|
297.2399890422821,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_83",
|
|
"id": 83,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.04416000097990036,
|
|
0.33921998739242554,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
44.16000097990036,
|
|
339.21998739242554,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_84",
|
|
"id": 84,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.40748998522758484,
|
|
0.2584199905395508,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
407.48998522758484,
|
|
258.4199905395508,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_85",
|
|
"id": 85,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.504580020904541,
|
|
-0.3127500116825104,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
504.580020904541,
|
|
-312.7500116825104,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_86",
|
|
"id": 86,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.36289000511169434,
|
|
0.29201000928878784,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
362.89000511169434,
|
|
292.01000928878784,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_87",
|
|
"id": 87,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.9436299800872803,
|
|
-0.2457599937915802,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
943.6299800872803,
|
|
-245.7599937915802,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_88",
|
|
"id": 88,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.7658699750900269,
|
|
0.3160400092601776,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
765.8699750900269,
|
|
316.0400092601776,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_89",
|
|
"id": 89,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.9880200028419495,
|
|
-0.36913999915122986,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
988.0200028419495,
|
|
-369.13999915122986,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_90",
|
|
"id": 90,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6431699991226196,
|
|
0.316430002450943,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
643.1699991226196,
|
|
316.430002450943,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_91",
|
|
"id": 91,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.7233499884605408,
|
|
0.32804998755455017,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
723.3499884605408,
|
|
328.04998755455017,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_92",
|
|
"id": 92,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6450899839401245,
|
|
-0.18483999371528625,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
645.0899839401245,
|
|
-184.83999371528625,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_93",
|
|
"id": 93,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.9348800182342529,
|
|
0.1436000019311905,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
934.8800182342529,
|
|
143.6000019311905,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_94",
|
|
"id": 94,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.8756999969482422,
|
|
0.17364999651908875,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
875.6999969482422,
|
|
173.64999651908875,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_95",
|
|
"id": 95,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.186039999127388,
|
|
-0.27406999468803406,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
186.039999127388,
|
|
-274.06999468803406,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_96",
|
|
"id": 96,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.36976999044418335,
|
|
-0.186489999294281,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
369.76999044418335,
|
|
-186.489999294281,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_97",
|
|
"id": 97,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.30434998869895935,
|
|
-0.3596700131893158,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
304.34998869895935,
|
|
-359.6700131893158,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_98",
|
|
"id": 98,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5752699971199036,
|
|
0.31505998969078064,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
575.2699971199036,
|
|
315.05998969078064,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_99",
|
|
"id": 99,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.9591599702835083,
|
|
-0.32155001163482666,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
959.1599702835083,
|
|
-321.55001163482666,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_100",
|
|
"id": 100,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.8032500147819519,
|
|
0.17236000299453735,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
803.2500147819519,
|
|
172.36000299453735,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_101",
|
|
"id": 101,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.1177000030875206,
|
|
0.298660010099411,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
117.7000030875206,
|
|
298.660010099411,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_102",
|
|
"id": 102,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.6496899724006653,
|
|
-0.22300000488758087,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
649.6899724006653,
|
|
-223.00000488758087,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_103",
|
|
"id": 103,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.1057099997997284,
|
|
-0.1877100020647049,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
105.7099997997284,
|
|
-187.7100020647049,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_104",
|
|
"id": 104,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.8267099857330322,
|
|
0.23916000127792358,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
826.7099857330322,
|
|
239.16000127792358,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Board_marker_105",
|
|
"id": 105,
|
|
"link": "Board",
|
|
"position_m": [
|
|
0.5248399972915649,
|
|
-0.26625001430511475,
|
|
-0.02680000104010105
|
|
],
|
|
"position_mm": [
|
|
524.8399972915649,
|
|
-266.25001430511475,
|
|
-26.80000104010105
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
0.0,
|
|
0.0,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_198",
|
|
"id": 198,
|
|
"link": "Arm1",
|
|
"position_m": [
|
|
0.1599999964237213,
|
|
-0.04913388192653656,
|
|
0.10757456719875336
|
|
],
|
|
"position_mm": [
|
|
159.9999964237213,
|
|
-49.13388192653656,
|
|
107.57456719875336
|
|
],
|
|
"rotation_quaternion": [
|
|
0.9993908405303955,
|
|
-0.03489953652024269,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.06975655257701874,
|
|
0.9975640773773193
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_229",
|
|
"id": 229,
|
|
"link": "Arm1",
|
|
"position_m": [
|
|
0.1599999964237213,
|
|
-0.13891464471817017,
|
|
0.11385266482830048
|
|
],
|
|
"position_mm": [
|
|
159.9999964237213,
|
|
-138.91464471817017,
|
|
113.85266482830048
|
|
],
|
|
"rotation_quaternion": [
|
|
0.9993908405303955,
|
|
-0.03489953652024269,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
0.06975655257701874,
|
|
0.9975640773773193
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_242",
|
|
"id": 242,
|
|
"link": "Arm1",
|
|
"position_m": [
|
|
0.1599999964237213,
|
|
-0.1438673585653305,
|
|
0.04302562028169632
|
|
],
|
|
"position_mm": [
|
|
159.9999964237213,
|
|
-143.8673585653305,
|
|
43.02562028169632
|
|
],
|
|
"rotation_quaternion": [
|
|
0.024677660316228867,
|
|
0.7066760063171387,
|
|
0.7066760659217834,
|
|
-0.024677699431777
|
|
],
|
|
"normal": [
|
|
-5.21540641784668e-08,
|
|
-0.06975650042295456,
|
|
-0.9975640773773193
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_243",
|
|
"id": 243,
|
|
"link": "Arm1",
|
|
"position_m": [
|
|
0.1599999964237213,
|
|
-0.17680451273918152,
|
|
0.08091549575328827
|
|
],
|
|
"position_mm": [
|
|
159.9999964237213,
|
|
-176.80451273918152,
|
|
80.91549575328827
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7313537001609802,
|
|
0.6819983124732971,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
-0.9975640773773193,
|
|
0.06975657492876053
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_244",
|
|
"id": 244,
|
|
"link": "Ellbow",
|
|
"position_m": [
|
|
0.2854999899864197,
|
|
-0.14139100909233093,
|
|
0.0784391462802887
|
|
],
|
|
"position_mm": [
|
|
285.4999899864197,
|
|
-141.39100909233093,
|
|
78.4391462802887
|
|
],
|
|
"rotation_quaternion": [
|
|
3.161013495400766e-08,
|
|
0.7071067690849304,
|
|
3.161013495400766e-08,
|
|
0.7071067690849304
|
|
],
|
|
"normal": [
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_245",
|
|
"id": 245,
|
|
"link": "Ellbow",
|
|
"position_m": [
|
|
0.25,
|
|
-0.14139100909233093,
|
|
0.11393915116786957
|
|
],
|
|
"position_mm": [
|
|
250.0,
|
|
-141.39100909233093,
|
|
113.93915116786957
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7071067690849304,
|
|
1.2101245339124489e-08,
|
|
-3.161013495400766e-08,
|
|
-0.7071067690849304
|
|
],
|
|
"normal": [
|
|
-6.181723222198343e-08,
|
|
2.7589738493816185e-08,
|
|
1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_246",
|
|
"id": 246,
|
|
"link": "Ellbow",
|
|
"position_m": [
|
|
0.25,
|
|
-0.14139100909233093,
|
|
0.04293914511799812
|
|
],
|
|
"position_mm": [
|
|
250.0,
|
|
-141.39100909233093,
|
|
42.93914511799812
|
|
],
|
|
"rotation_quaternion": [
|
|
4.470348358154297e-08,
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
-8.940696716308594e-08,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_247",
|
|
"id": 247,
|
|
"link": "Ellbow",
|
|
"position_m": [
|
|
0.21249999105930328,
|
|
-0.14139100909233093,
|
|
0.04293914511799812
|
|
],
|
|
"position_mm": [
|
|
212.49999105930328,
|
|
-141.39100909233093,
|
|
42.93914511799812
|
|
],
|
|
"rotation_quaternion": [
|
|
4.470348358154297e-08,
|
|
1.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
"normal": [
|
|
0.0,
|
|
-8.940696716308594e-08,
|
|
-1.0
|
|
]
|
|
},
|
|
{
|
|
"name": "Arm2_marker_120",
|
|
"id": 120,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.28217554092407227,
|
|
-0.029391005635261536,
|
|
0.09344284236431122
|
|
],
|
|
"position_mm": [
|
|
282.17554092407227,
|
|
-29.391005635261536,
|
|
93.44284236431122
|
|
],
|
|
"rotation_quaternion": [
|
|
2.4019168876066033e-08,
|
|
0.537299633026123,
|
|
3.770253798052181e-08,
|
|
0.8433914184570312
|
|
],
|
|
"normal": [
|
|
0.9063078165054321,
|
|
3.778500712314781e-08,
|
|
0.42261818051338196
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_122",
|
|
"id": 122,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.2166409194469452,
|
|
-0.029391005635261536,
|
|
0.09058085083961487
|
|
],
|
|
"position_mm": [
|
|
216.6409194469452,
|
|
-29.391005635261536,
|
|
90.58085083961487
|
|
],
|
|
"rotation_quaternion": [
|
|
2.564086898360074e-08,
|
|
0.5735765099525452,
|
|
-3.66189532030603e-08,
|
|
-0.8191519975662231
|
|
],
|
|
"normal": [
|
|
-0.9396926760673523,
|
|
3.057897757230421e-08,
|
|
0.3420200049877167
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_218",
|
|
"id": 218,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.2833590805530548,
|
|
-0.029391005635261536,
|
|
0.06629741936922073
|
|
],
|
|
"position_mm": [
|
|
283.3590805530548,
|
|
-29.391005635261536,
|
|
66.29741936922073
|
|
],
|
|
"rotation_quaternion": [
|
|
3.661894965034662e-08,
|
|
0.8191520571708679,
|
|
2.564086543088706e-08,
|
|
0.5735763907432556
|
|
],
|
|
"normal": [
|
|
0.9396926760673523,
|
|
-3.0578991783158926e-08,
|
|
-0.3420202434062958
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_113",
|
|
"id": 113,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.23956838250160217,
|
|
0.04060898721218109,
|
|
0.04977850615978241
|
|
],
|
|
"position_mm": [
|
|
239.56838250160217,
|
|
40.60898721218109,
|
|
49.77850615978241
|
|
],
|
|
"rotation_quaternion": [
|
|
4.402433972927611e-08,
|
|
0.9848077297210693,
|
|
-7.762678500000675e-09,
|
|
-0.1736481934785843
|
|
],
|
|
"normal": [
|
|
-0.342020183801651,
|
|
-8.401507045618928e-08,
|
|
-0.9396926760673523
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_114",
|
|
"id": 114,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.28217554092407227,
|
|
0.04060898721218109,
|
|
0.09344283491373062
|
|
],
|
|
"position_mm": [
|
|
282.17554092407227,
|
|
40.60898721218109,
|
|
93.44283491373062
|
|
],
|
|
"rotation_quaternion": [
|
|
2.4019168876066033e-08,
|
|
0.537299633026123,
|
|
3.770253798052181e-08,
|
|
0.8433914184570312
|
|
],
|
|
"normal": [
|
|
0.9063078165054321,
|
|
3.778500712314781e-08,
|
|
0.42261818051338196
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_115",
|
|
"id": 115,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.23499630391597748,
|
|
0.04060898721218109,
|
|
0.11061467975378036
|
|
],
|
|
"position_mm": [
|
|
234.99630391597748,
|
|
40.60898721218109,
|
|
110.61467975378036
|
|
],
|
|
"rotation_quaternion": [
|
|
9.675605205927695e-09,
|
|
0.21643958985805511,
|
|
-4.364383343613554e-08,
|
|
-0.9762960076332092
|
|
],
|
|
"normal": [
|
|
-0.42261821031570435,
|
|
8.103023674266296e-08,
|
|
0.9063078165054321
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_124",
|
|
"id": 124,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.2166409194469452,
|
|
0.07760898768901825,
|
|
0.09058084338903427
|
|
],
|
|
"position_mm": [
|
|
216.6409194469452,
|
|
77.60898768901825,
|
|
90.58084338903427
|
|
],
|
|
"rotation_quaternion": [
|
|
2.564086898360074e-08,
|
|
0.5735765099525452,
|
|
-3.66189532030603e-08,
|
|
-0.8191519975662231
|
|
],
|
|
"normal": [
|
|
-0.9396926760673523,
|
|
3.057897757230421e-08,
|
|
0.3420200049877167
|
|
]
|
|
},
|
|
{
|
|
"name": "aruco_219",
|
|
"id": 219,
|
|
"link": "Arm2",
|
|
"position_m": [
|
|
0.2833590805530548,
|
|
0.07760898768901825,
|
|
0.06629741191864014
|
|
],
|
|
"position_mm": [
|
|
283.3590805530548,
|
|
77.60898768901825,
|
|
66.29741191864014
|
|
],
|
|
"rotation_quaternion": [
|
|
3.661894965034662e-08,
|
|
0.8191520571708679,
|
|
2.564086543088706e-08,
|
|
0.5735763907432556
|
|
],
|
|
"normal": [
|
|
0.9396926760673523,
|
|
-3.0578991783158926e-08,
|
|
-0.3420202434062958
|
|
]
|
|
},
|
|
{
|
|
"name": "FingerA_marker_40",
|
|
"id": 40,
|
|
"link": "FingerA",
|
|
"position_m": [
|
|
0.2917592525482178,
|
|
0.12591102719306946,
|
|
0.12510916590690613
|
|
],
|
|
"position_mm": [
|
|
291.7592525482178,
|
|
125.91102719306946,
|
|
125.10916590690613
|
|
],
|
|
"rotation_quaternion": [
|
|
0.1544569581747055,
|
|
0.03031768463551998,
|
|
-0.4755449891090393,
|
|
0.8654946088790894
|
|
],
|
|
"normal": [
|
|
-0.09442289173603058,
|
|
-0.832528829574585,
|
|
0.545875608921051
|
|
]
|
|
},
|
|
{
|
|
"name": "FingerA_marker_41",
|
|
"id": 41,
|
|
"link": "FingerA",
|
|
"position_m": [
|
|
0.2624165415763855,
|
|
0.15108303725719452,
|
|
0.09411130845546722
|
|
],
|
|
"position_mm": [
|
|
262.4165415763855,
|
|
151.08303725719452,
|
|
94.11130845546722
|
|
],
|
|
"rotation_quaternion": [
|
|
0.8873363137245178,
|
|
-0.4041287302970886,
|
|
0.1631559282541275,
|
|
0.15064652264118195
|
|
],
|
|
"normal": [
|
|
0.16778720915317535,
|
|
0.7663540244102478,
|
|
0.6201202273368835
|
|
]
|
|
},
|
|
{
|
|
"name": "FingerA_marker_42",
|
|
"id": 42,
|
|
"link": "FingerA",
|
|
"position_m": [
|
|
0.29324421286582947,
|
|
0.1494995504617691,
|
|
0.12992660701274872
|
|
],
|
|
"position_mm": [
|
|
293.24421286582947,
|
|
149.4995504617691,
|
|
129.92660701274872
|
|
],
|
|
"rotation_quaternion": [
|
|
0.5917459726333618,
|
|
-0.6117925643920898,
|
|
0.5040423274040222,
|
|
-0.14658761024475098
|
|
],
|
|
"normal": [
|
|
0.775892436504364,
|
|
0.5762788653373718,
|
|
-0.25669756531715393
|
|
]
|
|
},
|
|
{
|
|
"name": "FingerB_marker_43",
|
|
"id": 43,
|
|
"link": "FingerB",
|
|
"position_m": [
|
|
0.2431921362876892,
|
|
0.15030696988105774,
|
|
0.1277972161769867
|
|
],
|
|
"position_mm": [
|
|
243.1921362876892,
|
|
150.30696988105774,
|
|
127.7972161769867
|
|
],
|
|
"rotation_quaternion": [
|
|
0.31482329964637756,
|
|
-0.502779483795166,
|
|
0.7212146520614624,
|
|
0.35769885778427124
|
|
],
|
|
"normal": [
|
|
0.09442305564880371,
|
|
0.8325287103652954,
|
|
-0.545875608921051
|
|
]
|
|
},
|
|
{
|
|
"name": "FingerB_marker_44",
|
|
"id": 44,
|
|
"link": "FingerB",
|
|
"position_m": [
|
|
0.2598983347415924,
|
|
0.10380371659994125,
|
|
0.12407644093036652
|
|
],
|
|
"position_mm": [
|
|
259.8983347415924,
|
|
103.80371659994125,
|
|
124.07644093036652
|
|
],
|
|
"rotation_quaternion": [
|
|
0.6279330849647522,
|
|
0.09560558199882507,
|
|
0.19483818113803864,
|
|
0.7473939061164856
|
|
],
|
|
"normal": [
|
|
0.38760077953338623,
|
|
0.17117394506931305,
|
|
0.9057953357696533
|
|
]
|
|
},
|
|
{
|
|
"name": "FingerB_marker_45",
|
|
"id": 45,
|
|
"link": "FingerB",
|
|
"position_m": [
|
|
0.25127705931663513,
|
|
0.14287297427654266,
|
|
0.14927279949188232
|
|
],
|
|
"position_mm": [
|
|
251.27705931663513,
|
|
142.87297427654266,
|
|
149.27279949188232
|
|
],
|
|
"rotation_quaternion": [
|
|
0.7106323838233948,
|
|
-0.09834278374910355,
|
|
-0.33236971497535706,
|
|
0.6122587323188782
|
|
],
|
|
"normal": [
|
|
-0.5928078293800354,
|
|
-0.2672213912010193,
|
|
0.7597181797027588
|
|
]
|
|
}
|
|
] |