Calculating Object Points for Aruco Board

So I was trying to track a cube with an Aruco marker on all faces and wanted to find out the cub’s absolute position in space. In order to track the cube, I would need to create an Aruco Board and I wanted to now how I get the object points of all the markers. Is there a scale of reference or a specific unit involved on how to do that? I have been looking at the documentation: OpenCV: cv::aruco::Board Class Reference
and I have also been looking at Three-Dimensional Aruco Boards | Peter F. Klemperer ( and they seem to define a cubic Aruco board with points. Is there a particular method to get the values of those points. For reference, I have calibrated the camera and have those values ready. Can someone help on how to proceed?