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Hi! I’ve recently started using wpical to calibrate the April tags on my field. I’ve realized that in the outputted Json file there are a few lines of code that are preventing the simulation from running. This code is nearly identical to 2025 April tag field layout json file but at the end it has an extra pose with no ID. if I remove this code everything seems to run properly. does anyone know what this last pose is for?
the 2025 game field json which lets the simulation run properly:
{
"tags": [
{
"ID": 1,
"pose": {
"translation": {
"x": 16.697198,
"y": 0.65532,
"z": 1.4859
},
"rotation": {
"quaternion": {
"W": 0.4539904997395468,
"X": 0.0,
"Y": 0.0,
"Z": 0.8910065241883678
}
}
}
},
{
"ID": 2,
"pose": {
"translation": {
"x": 16.697198,
"y": 7.3964799999999995,
"z": 1.4859
},
"rotation": {
"quaternion": {
"W": -0.45399049973954675,
"X": -0.0,
"Y": 0.0,
"Z": 0.8910065241883679
}
}
}
},
{
"ID": 3,
"pose": {
"translation": {
"x": 11.560809999999998,
"y": 8.05561,
"z": 1.30175
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": -0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 4,
"pose": {
"translation": {
"x": 9.276079999999999,
"y": 6.137656,
"z": 1.8679160000000001
},
"rotation": {
"quaternion": {
"W": 0.9659258262890683,
"X": 0.0,
"Y": 0.25881904510252074,
"Z": 0.0
}
}
}
},
{
"ID": 5,
"pose": {
"translation": {
"x": 9.276079999999999,
"y": 1.914906,
"z": 1.8679160000000001
},
"rotation": {
"quaternion": {
"W": 0.9659258262890683,
"X": 0.0,
"Y": 0.25881904510252074,
"Z": 0.0
}
}
}
},
{
"ID": 6,
"pose": {
"translation": {
"x": 13.474446,
"y": 3.3063179999999996,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": -0.8660254037844387,
"X": -0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
}
}
},
{
"ID": 7,
"pose": {
"translation": {
"x": 13.890498,
"y": 4.0259,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 8,
"pose": {
"translation": {
"x": 13.474446,
"y": 4.745482,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": 0.8660254037844387,
"X": 0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
}
}
},
{
"ID": 9,
"pose": {
"translation": {
"x": 12.643358,
"y": 4.745482,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": 0.5000000000000001,
"X": 0.0,
"Y": 0.0,
"Z": 0.8660254037844386
}
}
}
},
{
"ID": 10,
"pose": {
"translation": {
"x": 12.227305999999999,
"y": 4.0259,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 11,
"pose": {
"translation": {
"x": 12.643358,
"y": 3.3063179999999996,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": -0.4999999999999998,
"X": -0.0,
"Y": 0.0,
"Z": 0.8660254037844387
}
}
}
},
{
"ID": 12,
"pose": {
"translation": {
"x": 0.851154,
"y": 0.65532,
"z": 1.4859
},
"rotation": {
"quaternion": {
"W": 0.8910065241883679,
"X": 0.0,
"Y": 0.0,
"Z": 0.45399049973954675
}
}
}
},
{
"ID": 13,
"pose": {
"translation": {
"x": 0.851154,
"y": 7.3964799999999995,
"z": 1.4859
},
"rotation": {
"quaternion": {
"W": -0.8910065241883678,
"X": -0.0,
"Y": 0.0,
"Z": 0.45399049973954686
}
}
}
},
{
"ID": 14,
"pose": {
"translation": {
"x": 8.272272,
"y": 6.137656,
"z": 1.8679160000000001
},
"rotation": {
"quaternion": {
"W": 5.914589856893349e-17,
"X": -0.25881904510252074,
"Y": 1.5848095757158825e-17,
"Z": 0.9659258262890683
}
}
}
},
{
"ID": 15,
"pose": {
"translation": {
"x": 8.272272,
"y": 1.914906,
"z": 1.8679160000000001
},
"rotation": {
"quaternion": {
"W": 5.914589856893349e-17,
"X": -0.25881904510252074,
"Y": 1.5848095757158825e-17,
"Z": 0.9659258262890683
}
}
}
},
{
"ID": 16,
"pose": {
"translation": {
"x": 5.9875419999999995,
"y": -0.0038099999999999996,
"z": 1.30175
},
"rotation": {
"quaternion": {
"W": 0.7071067811865476,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 17,
"pose": {
"translation": {
"x": 4.073905999999999,
"y": 3.3063179999999996,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": -0.4999999999999998,
"X": -0.0,
"Y": 0.0,
"Z": 0.8660254037844387
}
}
}
},
{
"ID": 18,
"pose": {
"translation": {
"x": 3.6576,
"y": 4.0259,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 19,
"pose": {
"translation": {
"x": 4.073905999999999,
"y": 4.745482,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": 0.5000000000000001,
"X": 0.0,
"Y": 0.0,
"Z": 0.8660254037844386
}
}
}
},
{
"ID": 20,
"pose": {
"translation": {
"x": 4.904739999999999,
"y": 4.745482,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": 0.8660254037844387,
"X": 0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
}
}
},
{
"ID": 21,
"pose": {
"translation": {
"x": 5.321046,
"y": 4.0259,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 22,
"pose": {
"translation": {
"x": 4.904739999999999,
"y": 3.3063179999999996,
"z": 0.308102
},
"rotation": {
"quaternion": {
"W": -0.8660254037844387,
"X": -0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
}
}
}
],
"field": {
"length": 17.548,
"width": 8.052
}
}
the json file generated by wpical:
{
"field": {
"length": 17.548,
"width": 8.052
},
"tags": [
{
"ID": 1,
"pose": {
"rotation": {
"quaternion": {
"W": 0.4539904997395468,
"X": 0.0,
"Y": 0.0,
"Z": 0.8910065241883678
}
},
"translation": {
"x": 16.697198,
"y": 0.65532,
"z": 1.4859
}
}
},
{
"ID": 2,
"pose": {
"rotation": {
"quaternion": {
"W": -0.45399049973954675,
"X": -0.0,
"Y": 0.0,
"Z": 0.8910065241883679
}
},
"translation": {
"x": 16.697198,
"y": 7.3964799999999995,
"z": 1.4859
}
}
},
{
"ID": 3,
"pose": {
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": -0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
},
"translation": {
"x": 11.560809999999998,
"y": 8.05561,
"z": 1.30175
}
}
},
{
"ID": 4,
"pose": {
"rotation": {
"quaternion": {
"W": 0.9659258262890683,
"X": 0.0,
"Y": 0.25881904510252074,
"Z": 0.0
}
},
"translation": {
"x": 9.276079999999999,
"y": 6.137656,
"z": 1.8679160000000001
}
}
},
{
"ID": 5,
"pose": {
"rotation": {
"quaternion": {
"W": 0.9659258262890683,
"X": 0.0,
"Y": 0.25881904510252074,
"Z": 0.0
}
},
"translation": {
"x": 9.276079999999999,
"y": 1.914906,
"z": 1.8679160000000001
}
}
},
{
"ID": 6,
"pose": {
"rotation": {
"quaternion": {
"W": -0.8660254037844387,
"X": -0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
},
"translation": {
"x": 13.474446,
"y": 3.3063179999999996,
"z": 0.308102
}
}
},
{
"ID": 7,
"pose": {
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
},
"translation": {
"x": 13.890498,
"y": 4.0259,
"z": 0.308102
}
}
},
{
"ID": 8,
"pose": {
"rotation": {
"quaternion": {
"W": 0.8660254037844387,
"X": 0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
},
"translation": {
"x": 13.474446,
"y": 4.745482,
"z": 0.308102
}
}
},
{
"ID": 9,
"pose": {
"rotation": {
"quaternion": {
"W": 0.5000000000000001,
"X": 0.0,
"Y": 0.0,
"Z": 0.8660254037844386
}
},
"translation": {
"x": 12.643358,
"y": 4.745482,
"z": 0.308102
}
}
},
{
"ID": 10,
"pose": {
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
},
"translation": {
"x": 12.227305999999999,
"y": 4.0259,
"z": 0.308102
}
}
},
{
"ID": 11,
"pose": {
"rotation": {
"quaternion": {
"W": -0.4999999999999998,
"X": -0.0,
"Y": 0.0,
"Z": 0.8660254037844387
}
},
"translation": {
"x": 12.643358,
"y": 3.3063179999999996,
"z": 0.308102
}
}
},
{
"ID": 12,
"pose": {
"rotation": {
"quaternion": {
"W": 0.8910065241883679,
"X": 0.0,
"Y": 0.0,
"Z": 0.45399049973954675
}
},
"translation": {
"x": 0.851154,
"y": 0.65532,
"z": 1.4859
}
}
},
{
"ID": 13,
"pose": {
"rotation": {
"quaternion": {
"W": -0.8910065241883678,
"X": -0.0,
"Y": 0.0,
"Z": 0.45399049973954686
}
},
"translation": {
"x": 0.851154,
"y": 7.3964799999999995,
"z": 1.4859
}
}
},
{
"ID": 14,
"pose": {
"rotation": {
"quaternion": {
"W": 5.914589856893349e-17,
"X": -0.25881904510252074,
"Y": 1.5848095757158825e-17,
"Z": 0.9659258262890683
}
},
"translation": {
"x": 8.272272,
"y": 6.137656,
"z": 1.8679160000000001
}
}
},
{
"ID": 15,
"pose": {
"rotation": {
"quaternion": {
"W": 5.914589856893349e-17,
"X": -0.25881904510252074,
"Y": 1.5848095757158825e-17,
"Z": 0.9659258262890683
}
},
"translation": {
"x": 8.272272,
"y": 1.914906,
"z": 1.8679160000000001
}
}
},
{
"ID": 16,
"pose": {
"rotation": {
"quaternion": {
"W": 0.7071067811865476,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
},
"translation": {
"x": 5.9875419999999995,
"y": -0.0038099999999999996,
"z": 1.30175
}
}
},
{
"ID": 17,
"pose": {
"rotation": {
"quaternion": {
"W": -0.4035927712957329,
"X": 0.01996412432854348,
"Y": 0.009904508897942364,
"Z": 0.9146672670436585
}
},
"translation": {
"x": 4.041182597944263,
"y": 3.1917488555738283,
"z": 0.3185553565091048
}
}
},
{
"ID": 18,
"pose": {
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
},
"translation": {
"x": 3.6576,
"y": 4.0259,
"z": 0.308102
}
}
},
{
"ID": 19,
"pose": {
"rotation": {
"quaternion": {
"W": 0.5000000000000001,
"X": 0.0,
"Y": 0.0,
"Z": 0.8660254037844386
}
},
"translation": {
"x": 4.073905999999999,
"y": 4.745482,
"z": 0.308102
}
}
},
{
"ID": 20,
"pose": {
"rotation": {
"quaternion": {
"W": 0.8660254037844387,
"X": 0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
},
"translation": {
"x": 4.904739999999999,
"y": 4.745482,
"z": 0.308102
}
}
},
{
"ID": 21,
"pose": {
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
},
"translation": {
"x": 5.321046,
"y": 4.0259,
"z": 0.308102
}
}
},
{
"ID": 22,
"pose": {
"rotation": {
"quaternion": {
"W": -0.8660254037844387,
"X": -0.0,
"Y": 0.0,
"Z": 0.49999999999999994
}
},
"translation": {
"x": 4.904739999999999,
"y": 3.3063179999999996,
"z": 0.308102
}
}
},
{
"pose": {
"rotation": {
"quaternion": {
"W": 0.35114692668777203,
"X": 0.8895263884556711,
"Y": -0.18386634973611068,
"Z": 0.2272263311182522
}
},
"translation": {
"x": 4.975261414530195,
"y": 10.107371606412972,
"z": -0.012881997722484717
}
}
}
]
}
the extra pose is the one at the end.
pinned and reference tag is 18 and the focused tag is 17.
here are the field and camera calibration videos
https://drive.google.com/drive/folders/1piKNZW77aXC70hIWzsmx5dpHmSUF9uuh?usp=share_link
(I know they aren't very good videos I just wanted to get it over with quickly so that I can test it)