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mujoco_linkerbot/tools/o30_right_calibration/photo_landmarks.json
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{
"source": "Five user-supplied 540x720 photos, 2026-09-21; manually annotated from chat previews",
"annotation_note": "Approximate hinge centres and fingertip ends. Occluded/foreshortened points have larger sigma_px. Camera intrinsics/extrinsics are unmeasured. These are not ground-truth 3-D joint positions. Distal tips hidden by contact are excluded from pinch images; exact contact is constrained by collision geometry instead.",
"image_size": [
540,
720
],
"zero_command": [
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0,
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0,
0,
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],
"photos": [
{
"name": "index",
"points": [
[
"pinky_mcp_pitch",
153,
394,
5
],
[
"pinky_pip",
134,
310,
5
],
[
"pinky_dip",
112,
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],
[
"pinky_tip",
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154,
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],
[
"ring_mcp_pitch",
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379,
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[
"ring_pip",
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287,
5
],
[
"ring_dip",
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184,
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],
[
"ring_tip",
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],
[
"middle_mcp_pitch",
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370,
5
],
[
"middle_pip",
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5
],
[
"middle_dip",
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],
[
"middle_tip",
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],
[
"index_mcp_pitch",
303,
360,
9
],
[
"index_pip",
343,
388,
10
],
[
"index_dip",
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470,
15
],
[
"thumb_mcp",
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12
],
[
"thumb_ip",
339,
504,
15
]
]
},
{
"name": "middle",
"points": [
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"pinky_mcp_pitch",
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],
[
"pinky_pip",
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5
],
[
"pinky_dip",
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207,
5
],
[
"pinky_tip",
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],
[
"ring_mcp_pitch",
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],
[
"ring_pip",
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],
[
"ring_dip",
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[
"ring_tip",
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[
"index_mcp_pitch",
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[
"index_pip",
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[
"index_dip",
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],
[
"index_tip",
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],
[
"middle_mcp_pitch",
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],
[
"middle_pip",
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[
"middle_dip",
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383,
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],
[
"thumb_mcp",
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498,
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],
[
"thumb_ip",
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439,
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]
]
},
{
"name": "ring",
"points": [
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],
[
"pinky_pip",
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[
"pinky_dip",
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[
"pinky_tip",
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],
[
"middle_mcp_pitch",
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5
],
[
"middle_pip",
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263,
5
],
[
"middle_dip",
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165,
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],
[
"middle_tip",
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112,
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],
[
"index_mcp_pitch",
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360,
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],
[
"index_pip",
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[
"index_dip",
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[
"index_tip",
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[
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[
"ring_pip",
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[
"ring_dip",
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[
"thumb_mcp",
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[
"thumb_ip",
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},
{
"name": "pinky",
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[
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[
"ring_tip",
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[
"middle_mcp_pitch",
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[
"middle_pip",
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],
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"middle_dip",
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[
"middle_tip",
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],
[
"index_mcp_pitch",
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],
[
"index_pip",
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284,
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],
[
"index_dip",
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[
"index_tip",
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],
[
"pinky_mcp_pitch",
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[
"pinky_pip",
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[
"pinky_dip",
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],
[
"thumb_mcp",
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],
[
"thumb_ip",
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15
]
]
},
{
"name": "zero",
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[
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[
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[
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[
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[
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[
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],
[
"thumb_ip",
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],
[
"thumb_tip",
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]
]
}
]
}