{
  "schema_version": "1.1",
  "stage": "corner_marker_poses",
  "created_utc": "2026-06-25T17:25:15Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 43
  },
  "cameras": [
    {
      "camera_id": "cam0",
      "position_m": [
        0.3353340810233093,
        -0.8856564828689467,
        0.46837261673851105
      ],
      "position_mm": [
        335.3340810233093,
        -885.6564828689467,
        468.37261673851106
      ],
      "direction": [
        -0.0658801719546318,
        0.8924656510353088,
        -0.4462788999080658
      ]
    },
    {
      "camera_id": "cam1",
      "position_m": [
        0.29680883948912407,
        -0.46281573382217234,
        0.780610463027648
      ],
      "position_mm": [
        296.80883948912407,
        -462.8157338221723,
        780.610463027648
      ],
      "direction": [
        0.09503374248743057,
        0.43309515714645386,
        -0.8963242769241333
      ]
    },
    {
      "camera_id": "cam2",
      "position_m": [
        0.7129078380464278,
        -0.665532940145086,
        0.7243147371422545
      ],
      "position_mm": [
        712.9078380464277,
        -665.5329401450861,
        724.3147371422544
      ],
      "direction": [
        -0.42887139320373535,
        0.5944520831108093,
        -0.6802176833152771
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 0,
      "link": "unknown",
      "set": "",
      "position_m": [
        0.5052044950810802,
        -0.10088315228774337,
        -0.007159526284560855
      ],
      "position_mm": [
        505.2044950810802,
        -100.88315228774337,
        -7.159526284560855
      ],
      "normal": [
        0.02188744500006233,
        0.03623762599735092,
        0.9991034852373629
      ],
      "corners_m": [
        [
          0.4931210221704284,
          -0.08902251256112026,
          -0.007210591171902941
        ],
        [
          0.5176345599088277,
          -0.0887270038126701,
          -0.007989169054565416
        ],
        [
          0.5172123894076679,
          -0.1125274545805471,
          -0.006883019634597008
        ],
        [
          0.4928500088373972,
          -0.11325563819663605,
          -0.0065553252771780555
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.24413054487405,
      "weight": 0.4875
    },
    {
      "marker_id": 46,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.5378264416607417,
        0.18551013238997283,
        -0.027879291369311943
      ],
      "position_mm": [
        537.8264416607417,
        185.51013238997282,
        -27.879291369311943
      ],
      "normal": [
        -0.08568396374076537,
        -0.05353565205905043,
        0.9948830043358282
      ],
      "corners_m": [
        [
          0.5263755699068333,
          0.1749085675608892,
          -0.02961055882761357
        ],
        [
          0.5253878447940988,
          0.196777444639459,
          -0.02817115704407417
        ],
        [
          0.549392058081372,
          0.19660090198942143,
          -0.026452282542808018
        ],
        [
          0.5501502938606626,
          0.17375361537012163,
          -0.027283167062752012
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.199000183212853,
      "weight": 0.3447
    },
    {
      "marker_id": 47,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.34317984651688416,
        -0.2862937692049697,
        -0.027164138591258966
      ],
      "position_mm": [
        343.17984651688414,
        -286.2937692049697,
        -27.164138591258965
      ],
      "normal": [
        -0.031231696951280415,
        0.010041197506571174,
        0.9994617328633335
      ],
      "corners_m": [
        [
          0.33078200750401754,
          -0.29793645872522256,
          -0.027131992501738318
        ],
        [
          0.3314772794701924,
          -0.2736286068082837,
          -0.02796698263122479
        ],
        [
          0.3552683232181285,
          -0.2750549172045844,
          -0.02657837934076975
        ],
        [
          0.35519177587519846,
          -0.2985550940817881,
          -0.026979199891303013
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.03202640475121,
      "weight": 0.7554
    },
    {
      "marker_id": 50,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.5740660271196084,
        0.21037826809336746,
        -0.026225039936072905
      ],
      "position_mm": [
        574.0660271196084,
        210.37826809336747,
        -26.225039936072907
      ],
      "normal": [
        -0.0007334318566108022,
        0.032086543086296826,
        0.9994848252127108
      ],
      "corners_m": [
        [
          0.5619005480316933,
          0.198041826066112,
          -0.026260497260393735
        ],
        [
          0.5623758422431261,
          0.2224905011778162,
          -0.026203326026318138
        ],
        [
          0.5863237331921071,
          0.22247824813977254,
          -0.027030993098368806
        ],
        [
          0.5856639850115073,
          0.19850249698976904,
          -0.025405343359210953
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.05967250453145,
      "weight": 0.2393
    },
    {
      "marker_id": 51,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.1667282238769894,
        -0.1710758283732236,
        -0.027093339422642557
      ],
      "position_mm": [
        166.7282238769894,
        -171.0758283732236,
        -27.093339422642558
      ],
      "normal": [
        -0.03385672724685736,
        0.011723476487960238,
        0.9993579349358108
      ],
      "corners_m": [
        [
          0.1547150712521942,
          -0.18328068811002252,
          -0.027354083981721504
        ],
        [
          0.15466013747161345,
          -0.15879627866383095,
          -0.027649361987502053
        ],
        [
          0.17852599816092002,
          -0.15884357820740305,
          -0.02683402947872019
        ],
        [
          0.17901168862322994,
          -0.18338276851163787,
          -0.026535882242626468
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.305623436046485,
      "weight": 0.6382
    },
    {
      "marker_id": 53,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.48736626671852423,
        0.21231679031089312,
        -0.02738275997348891
      ],
      "position_mm": [
        487.36626671852423,
        212.3167903108931,
        -27.38275997348891
      ],
      "normal": [
        -0.0736101020288379,
        -0.01564065900121903,
        0.9971644411356192
      ],
      "corners_m": [
        [
          0.4757190794485293,
          0.2014528406166193,
          -0.028389058690037657
        ],
        [
          0.47499780770641314,
          0.2247388046077821,
          -0.028124575264799806
        ],
        [
          0.4991526780785909,
          0.22281249506571896,
          -0.026323687792599713
        ],
        [
          0.49959550164056354,
          0.2002630209534522,
          -0.026693718146518455
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.52999142170282,
      "weight": 0.3227
    },
    {
      "marker_id": 54,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.34107216634237836,
        -0.3303012041396062,
        -0.02722030671584772
      ],
      "position_mm": [
        341.07216634237835,
        -330.30120413960617,
        -27.22030671584772
      ],
      "normal": [
        -0.033618003183349426,
        0.04016720801875606,
        0.9986272704377457
      ],
      "corners_m": [
        [
          0.3289755261892367,
          -0.3420749965428816,
          -0.027461629344782648
        ],
        [
          0.3291722918761967,
          -0.31765655212894395,
          -0.027823591403128747
        ],
        [
          0.35326167338584835,
          -0.31829062837412114,
          -0.02759247270381654
        ],
        [
          0.3528791739182314,
          -0.34318263951247785,
          -0.02600353341166295
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 24.360009517128933,
      "weight": 0.5618
    },
    {
      "marker_id": 55,
      "link": "Arm1",
      "set": "A0",
      "position_m": [
        0.2826453370101749,
        -0.26174958078036853,
        -0.026645233099692963
      ],
      "position_mm": [
        282.6453370101749,
        -261.74958078036855,
        -26.645233099692962
      ],
      "normal": [
        -0.05273705322086408,
        0.016960957525328557,
        0.9984643855127753
      ],
      "corners_m": [
        [
          0.27060778008327213,
          -0.2737407117657374,
          -0.027397816442937227
        ],
        [
          0.27057276639875916,
          -0.2491794640591713,
          -0.027173708683332326
        ],
        [
          0.29463386900565197,
          -0.24984757884801367,
          -0.02653901999282952
        ],
        [
          0.29476693255301645,
          -0.27423056844855176,
          -0.025470387279672782
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.32216569858272,
      "weight": 0.7263
    },
    {
      "marker_id": 58,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.0486200712606465,
        -0.21650167659710656,
        -0.027861961281782838
      ],
      "position_mm": [
        48.6200712606465,
        -216.50167659710655,
        -27.861961281782836
      ],
      "normal": [
        -0.0016154290322130593,
        -0.009401360428406058,
        0.9999545013705059
      ],
      "corners_m": [
        [
          0.036545569868233714,
          -0.22867236388887668,
          -0.027848431959453253
        ],
        [
          0.03644322513347829,
          -0.20407942519015682,
          -0.02791315990746717
        ],
        [
          0.06062762406037025,
          -0.2047121261474928,
          -0.02757869793040356
        ],
        [
          0.06086386598050376,
          -0.22854279116190007,
          -0.02810755532980736
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.23648685677286,
      "weight": 0.4199
    },
    {
      "marker_id": 62,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.4041518149215487,
        -0.17491948394094883,
        -0.0269608631008516
      ],
      "position_mm": [
        404.15181492154875,
        -174.91948394094882,
        -26.9608631008516
      ],
      "normal": [
        0.01613817571808002,
        -0.015024920232006186,
        0.999756875973611
      ],
      "corners_m": [
        [
          0.3920737422133541,
          -0.18677215499002264,
          -0.027036023221026412
        ],
        [
          0.3919926434564965,
          -0.16292347334237547,
          -0.02649309195371941
        ],
        [
          0.41632975851701276,
          -0.1632125614407277,
          -0.02707386641859979
        ],
        [
          0.41621111549933154,
          -0.1867697459906695,
          -0.027240470810060778
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 23.974267674074415,
      "weight": 0.6083
    },
    {
      "marker_id": 64,
      "link": "Board",
      "set": "A0",
      "position_m": [
        -0.02258649631128378,
        -0.18667977698072646,
        -0.026966425537488896
      ],
      "position_mm": [
        -22.58649631128378,
        -186.67977698072647,
        -26.966425537488895
      ],
      "normal": [
        -0.0064752537296278645,
        0.011327986548649915,
        0.9999148702814108
      ],
      "corners_m": [
        [
          -0.03439927572660453,
          -0.1990124815609223,
          -0.026428394085164827
        ],
        [
          -0.03486010726531316,
          -0.173155504999449,
          -0.02763693239629834
        ],
        [
          -0.009893771966548847,
          -0.1759502130115784,
          -0.026504850564630176
        ],
        [
          -0.011192830286668586,
          -0.19860090835095617,
          -0.027295525103862232
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.241261095246575,
      "weight": 0.3785
    },
    {
      "marker_id": 66,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.20851422290342447,
        -0.36321289901385745,
        -0.027644769038368936
      ],
      "position_mm": [
        208.51422290342447,
        -363.21289901385745,
        -27.644769038368935
      ],
      "normal": [
        -0.049605765588381076,
        0.03216066169458332,
        0.9982509503425264
      ],
      "corners_m": [
        [
          0.1958934982893338,
          -0.3745036677271824,
          -0.02842170503543501
        ],
        [
          0.1967026359183424,
          -0.35091747750483704,
          -0.02809451595895762
        ],
        [
          0.2207218997661436,
          -0.3513022231279206,
          -0.027928500945369965
        ],
        [
          0.22073885763987816,
          -0.37612822769548987,
          -0.026134354213713146
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.379817245584718,
      "weight": 0.434
    },
    {
      "marker_id": 68,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.5743878627677407,
        0.1690555009865223,
        -0.026110414970654056
      ],
      "position_mm": [
        574.3878627677407,
        169.0555009865223,
        -26.110414970654055
      ],
      "normal": [
        -0.0004423706340999529,
        0.05167449160127389,
        0.9986638830086788
      ],
      "corners_m": [
        [
          0.5623261370914318,
          0.15646189643939457,
          -0.025877938606102623
        ],
        [
          0.5622386851446903,
          0.1804941935809788,
          -0.026313717512898946
        ],
        [
          0.5870770086431448,
          0.18232982079332896,
          -0.027163607228015058
        ],
        [
          0.5859096201916958,
          0.15693609313238688,
          -0.025086396535599607
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.515941202978375,
      "weight": 0.2734
    },
    {
      "marker_id": 73,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.2219673828728824,
        0.33721762949995815,
        -0.030290964230759415
      ],
      "position_mm": [
        221.96738287288238,
        337.21762949995815,
        -30.290964230759414
      ],
      "normal": [
        -0.05171501701966444,
        0.14619892227790302,
        0.9879025418225401
      ],
      "corners_m": [
        [
          0.2099520001525355,
          0.32529642222307453,
          -0.02986365874714666
        ],
        [
          0.21016863328744437,
          0.35134351983698553,
          -0.03227248290068654
        ],
        [
          0.23370636878440182,
          0.3515916258153055,
          -0.03240977794180018
        ],
        [
          0.23404252926714783,
          0.32063895012446697,
          -0.02661793733340428
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 26.485158811151774,
      "weight": 0.1671
    },
    {
      "marker_id": 76,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.686208289306693,
        0.16501625935789133,
        -0.027128806930602364
      ],
      "position_mm": [
        686.208289306693,
        165.01625935789133,
        -27.128806930602366
      ],
      "normal": [
        -0.045478091343535296,
        -0.03113769096128405,
        0.9984799384110572
      ],
      "corners_m": [
        [
          0.6742853696315547,
          0.15349808896394945,
          -0.02787408437989165
        ],
        [
          0.6741894125974176,
          0.17675356164091763,
          -0.027468507107200484
        ],
        [
          0.6980249440231349,
          0.1758366833126496,
          -0.026084926594691474
        ],
        [
          0.6983334309746645,
          0.15397670351404869,
          -0.027087709640625842
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.27581921989986,
      "weight": 0.3625
    },
    {
      "marker_id": 79,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.31150669317326424,
        -0.15794671443086494,
        -0.027044415501141818
      ],
      "position_mm": [
        311.50669317326424,
        -157.94671443086494,
        -27.044415501141817
      ],
      "normal": [
        0.0502328186860131,
        -0.04898872129715993,
        0.9975353472997973
      ],
      "corners_m": [
        [
          0.29955065837151285,
          -0.16986513800699882,
          -0.027497571974923245
        ],
        [
          0.2996622031696467,
          -0.1478686907804324,
          -0.025482520169204236
        ],
        [
          0.3234029566012382,
          -0.1452779894777899,
          -0.02746348600166971
        ],
        [
          0.32341095455065916,
          -0.1687750394582387,
          -0.02773408385877007
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.359376815179566,
      "weight": 0.4199
    },
    {
      "marker_id": 82,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.21936556203940893,
        0.30045717438883596,
        -0.02979075821718188
      ],
      "position_mm": [
        219.36556203940893,
        300.45717438883594,
        -29.79075821718188
      ],
      "normal": [
        0.00751346876857735,
        0.12320459480667215,
        0.9923528483385269
      ],
      "corners_m": [
        [
          0.20811679754844384,
          0.2873804354592832,
          -0.02783096103711549
        ],
        [
          0.2072783123834849,
          0.3147267689582892,
          -0.031710673693245435
        ],
        [
          0.23114889626386448,
          0.3128732966523306,
          -0.03116854238480876
        ],
        [
          0.2309182419618425,
          0.28684819648544074,
          -0.028452855753557837
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 25.141256482077612,
      "weight": 0.2806
    },
    {
      "marker_id": 85,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.5039058359321804,
        -0.31350530327354253,
        -0.027058596575046084
      ],
      "position_mm": [
        503.9058359321804,
        -313.50530327354255,
        -27.058596575046085
      ],
      "normal": [
        0.005146604003328235,
        -0.008664429096419403,
        0.9999492187784669
      ],
      "corners_m": [
        [
          0.49163227595981807,
          -0.32556424644931903,
          -0.027218601620592996
        ],
        [
          0.4918106184971616,
          -0.3017381758701238,
          -0.026773940193895097
        ],
        [
          0.5159991489357265,
          -0.30145166269155355,
          -0.02713689184423611
        ],
        [
          0.5161813003360154,
          -0.3252671280831739,
          -0.027104952641460133
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 24.097776402534436,
      "weight": 0.5983
    },
    {
      "marker_id": 90,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.6449321855731515,
        0.31619504062885767,
        -0.028158497228115746
      ],
      "position_mm": [
        644.9321855731515,
        316.19504062885767,
        -28.158497228115746
      ],
      "normal": [
        -0.023838539701572174,
        -0.04568594842532903,
        0.9986713764504191
      ],
      "corners_m": [
        [
          0.6335210704367185,
          0.3054279430148531,
          -0.02959953659550744
        ],
        [
          0.6326985979465948,
          0.3274870536979496,
          -0.027270126329104766
        ],
        [
          0.6565786612184072,
          0.32776919549044503,
          -0.0279721253408548
        ],
        [
          0.6569304126908855,
          0.30409597031218294,
          -0.027792200646995977
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.320582329391257,
      "weight": 0.2879
    },
    {
      "marker_id": 91,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.7254858569235172,
        0.32785139270449304,
        -0.027507052309440182
      ],
      "position_mm": [
        725.4858569235172,
        327.85139270449304,
        -27.507052309440184
      ],
      "normal": [
        -0.02707754916964226,
        0.036937602925204094,
        0.9989506593526558
      ],
      "corners_m": [
        [
          0.712981887620821,
          0.31507984187567245,
          -0.02696637717523818
        ],
        [
          0.7145350271726675,
          0.34079524585325555,
          -0.028720159425698576
        ],
        [
          0.7371304273296406,
          0.3397733353476387,
          -0.027163294474724535
        ],
        [
          0.7372960855709393,
          0.3157571477414055,
          -0.027178378162099438
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.208805399117534,
      "weight": 0.2091
    },
    {
      "marker_id": 92,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.6447019342433877,
        -0.18693491730925765,
        -0.025550505282617524
      ],
      "position_mm": [
        644.7019342433878,
        -186.93491730925766,
        -25.550505282617525
      ],
      "normal": [
        -0.05882929238544899,
        -0.018501496601004083,
        0.9980965930113931
      ],
      "corners_m": [
        [
          0.6332131584444548,
          -0.1987205238441994,
          -0.026827893418331167
        ],
        [
          0.6326595257710306,
          -0.17483124685681742,
          -0.025655272067663493
        ],
        [
          0.6562716632314788,
          -0.175263633568773,
          -0.025037015685470912
        ],
        [
          0.6566633895265865,
          -0.19892426496724086,
          -0.02468183995900453
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.69106961353562,
      "weight": 0.5325
    },
    {
      "marker_id": 95,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.1847691901969211,
        -0.273260218116302,
        -0.027609211131850237
      ],
      "position_mm": [
        184.7691901969211,
        -273.26021811630204,
        -27.609211131850238
      ],
      "normal": [
        -0.03696538236094691,
        0.018347452504005598,
        0.9991481028824116
      ],
      "corners_m": [
        [
          0.17241439069996298,
          -0.2849834186192174,
          -0.027433068143709893
        ],
        [
          0.17292333255677395,
          -0.2605587441293417,
          -0.02870531019645584
        ],
        [
          0.19690188998049687,
          -0.2615489566026629,
          -0.026949579723805895
        ],
        [
          0.1968371475504506,
          -0.285949753113986,
          -0.02734888646342933
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 24.343093644665778,
      "weight": 0.6542
    },
    {
      "marker_id": 96,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.369197792626815,
        -0.1857436626700597,
        -0.02760751576830979
      ],
      "position_mm": [
        369.197792626815,
        -185.7436626700597,
        -27.60751576830979
      ],
      "normal": [
        -0.0483556561154326,
        0.0215178711604489,
        0.9985983735928916
      ],
      "corners_m": [
        [
          0.35697701134548326,
          -0.19775170294754674,
          -0.028165720752956123
        ],
        [
          0.35717999133113276,
          -0.17348771650939623,
          -0.028227263364491096
        ],
        [
          0.38137949240651914,
          -0.17416694932659815,
          -0.027501518607480416
        ],
        [
          0.38125467542412506,
          -0.19756828189669767,
          -0.026535560348311536
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 24.059859393085066,
      "weight": 0.5887
    },
    {
      "marker_id": 103,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.10462948511641995,
        -0.18631859957962704,
        -0.027250305898322984
      ],
      "position_mm": [
        104.62948511641996,
        -186.31859957962703,
        -27.250305898322985
      ],
      "normal": [
        -0.017208311057066425,
        0.02454883864207025,
        0.9995505132567784
      ],
      "corners_m": [
        [
          0.09257843286587261,
          -0.1983913245803356,
          -0.02671215220655653
        ],
        [
          0.09250088113413102,
          -0.17362678743571425,
          -0.028214358137968725
        ],
        [
          0.11681481922655008,
          -0.17440673139921095,
          -0.026882995513005527
        ],
        [
          0.11662380723912608,
          -0.19884955490324735,
          -0.027191717735761168
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 24.41826695860285,
      "weight": 0.5666
    },
    {
      "marker_id": 105,
      "link": "Board",
      "set": "A0",
      "position_m": [
        0.5243032524385538,
        -0.2671503843697438,
        -0.027083400996527653
      ],
      "position_mm": [
        524.3032524385538,
        -267.1503843697438,
        -27.083400996527654
      ],
      "normal": [
        -0.01599864651832562,
        0.0193841406085693,
        0.9996840993045999
      ],
      "corners_m": [
        [
          0.5126190358135955,
          -0.2791030083767478,
          -0.02681629446106809
        ],
        [
          0.512098514662561,
          -0.2552559596265507,
          -0.027729813359457452
        ],
        [
          0.5360805511016133,
          -0.2551047029136219,
          -0.026909587234653514
        ],
        [
          0.5364149081764455,
          -0.2791378665620548,
          -0.026877908930931543
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 23.92455978321324,
      "weight": 0.7573
    },
    {
      "marker_id": 118,
      "link": "unknown",
      "set": "",
      "position_m": [
        0.32298816818524,
        -0.17421642921561398,
        0.04715543350989927
      ],
      "position_mm": [
        322.98816818524,
        -174.21642921561397,
        47.155433509899275
      ],
      "normal": [
        0.023353254828965702,
        -0.9946235446357008,
        0.10088919637507068
      ],
      "corners_m": [
        [
          0.33476004555214456,
          -0.1752484154969771,
          0.03512413032791927
        ],
        [
          0.310777226339317,
          -0.1756396368867708,
          0.03509894287494888
        ],
        [
          0.3111479410203566,
          -0.17333631323919282,
          0.05941960341544526
        ],
        [
          0.3352674598291419,
          -0.17264135123951513,
          0.05897905742128367
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 24.138550445270795,
      "weight": 0.5186
    },
    {
      "marker_id": 122,
      "link": "Ellbow",
      "set": "",
      "position_m": [
        0.35995324620045366,
        -0.17378489750800846,
        0.0460683598840121
      ],
      "position_mm": [
        359.95324620045363,
        -173.78489750800847,
        46.068359884012104
      ],
      "normal": [
        0.002041765658866945,
        -0.9936087740562163,
        0.11286024681657081
      ],
      "corners_m": [
        [
          0.37237083657539377,
          -0.17476777610542663,
          0.03475408390097215
        ],
        [
          0.3482490618411883,
          -0.17553383260537517,
          0.03340429571107772
        ],
        [
          0.3473677923090367,
          -0.1722990949728958,
          0.056891546138556966
        ],
        [
          0.3718252940761956,
          -0.17253888634833622,
          0.05922351378544159
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 24.260840521667582,
      "weight": 0.5297
    },
    {
      "marker_id": 143,
      "link": "Arm2",
      "set": "",
      "position_m": [
        0.34007312232696796,
        -0.1382191635210904,
        0.22965654088534693
      ],
      "position_mm": [
        340.07312232696796,
        -138.2191635210904,
        229.6565408853469
      ],
      "normal": [
        -0.7269504938098722,
        -0.6815068127754624,
        0.08421071006833851
      ],
      "corners_m": [
        [
          0.3480389309077827,
          -0.14801535604441635,
          0.2184936812458148
        ],
        [
          0.3317421366371119,
          -0.13105442197717015,
          0.21635861171371373
        ],
        [
          0.33230494277749395,
          -0.12844443628023183,
          0.24105791244094704
        ],
        [
          0.3482064789854832,
          -0.1453624397825433,
          0.24271595814091218
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.02655536545685,
      "weight": 0.5826
    },
    {
      "marker_id": 144,
      "link": "Arm2",
      "set": "",
      "position_m": [
        0.3629310777112173,
        -0.15715209973987782,
        0.15816108361334208
      ],
      "position_mm": [
        362.9310777112173,
        -157.15209973987783,
        158.16108361334207
      ],
      "normal": [
        -0.05456292778568429,
        -0.991700710789519,
        0.1164155794170905
      ],
      "corners_m": [
        [
          0.37472552110629315,
          -0.15913817974105535,
          0.145921532557608
        ],
        [
          0.3504507744668327,
          -0.1579658184282881,
          0.14621934022997046
        ],
        [
          0.3511978767410401,
          -0.1549578281613012,
          0.17051132839421881
        ],
        [
          0.3753501385307032,
          -0.15654657262886662,
          0.1699921332715711
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 24.30539376391887,
      "weight": 0.6648
    },
    {
      "marker_id": 146,
      "link": "Arm2",
      "set": "",
      "position_m": [
        0.3373055076322522,
        -0.14770715597985262,
        0.16001776498795617
      ],
      "position_mm": [
        337.3055076322522,
        -147.70715597985262,
        160.01776498795616
      ],
      "normal": [
        -0.6883325810176156,
        -0.7230290029066275,
        0.05854330760621411
      ],
      "corners_m": [
        [
          0.3456458155727731,
          -0.1563892069210023,
          0.14797091772107682
        ],
        [
          0.3293408254775714,
          -0.14141274771328408,
          0.1469862951970766
        ],
        [
          0.32873382652997896,
          -0.1383524027451605,
          0.1720473710637107
        ],
        [
          0.3455015629486854,
          -0.15467426653996358,
          0.17306647596996053
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.998093168227342,
      "weight": 0.4918
    },
    {
      "marker_id": 147,
      "link": "FingerA",
      "set": "",
      "position_m": [
        0.383247310658375,
        -0.14404858279642158,
        0.22650484413452593
      ],
      "position_mm": [
        383.247310658375,
        -144.04858279642158,
        226.50484413452594
      ],
      "normal": [
        0.4377766576413942,
        -0.8960687201735422,
        0.07356933295116713
      ],
      "corners_m": [
        [
          0.3935197815892526,
          -0.13974166604521326,
          0.2139115007407279
        ],
        [
          0.3723849790592809,
          -0.15058476908381274,
          0.21543348549040017
        ],
        [
          0.37263145728916863,
          -0.1478807921526146,
          0.23913071574017944
        ],
        [
          0.39445302469579774,
          -0.1379871039040457,
          0.2375436745667962
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 23.845687610972416,
      "weight": 0.7037
    },
    {
      "marker_id": 148,
      "link": "Arm2",
      "set": "",
      "position_m": [
        0.3672093311825495,
        -0.14290732720877108,
        0.2643447735325815
      ],
      "position_mm": [
        367.2093311825495,
        -142.90732720877108,
        264.3447735325815
      ],
      "normal": [
        -0.04936229432134974,
        -0.9958554331829946,
        0.07638926691127913
      ],
      "corners_m": [
        [
          0.3787507011018173,
          -0.14411633223682072,
          0.25180607125574883
        ],
        [
          0.3547204444979868,
          -0.1435244086056783,
          0.2524124020244396
        ],
        [
          0.35575932210553307,
          -0.14104782797773505,
          0.2769859677459469
        ],
        [
          0.3796068570248607,
          -0.14294074001485027,
          0.2761746531041907
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 24.278328806723824,
      "weight": 0.7853
    },
    {
      "marker_id": 178,
      "link": "FingerB",
      "set": "",
      "position_m": [
        0.2877290003670202,
        -0.12140462316811663,
        0.315332767953462
      ],
      "position_mm": [
        287.7290003670202,
        -121.40462316811663,
        315.332767953462
      ],
      "normal": [
        -0.6717906682991077,
        -0.7214974393473287,
        -0.16774606702240746
      ],
      "corners_m": [
        [
          0.2795480733628238,
          -0.1168579938814506,
          0.3287335215114899
        ],
        [
          0.29525200710959515,
          -0.13083364767316769,
          0.3255688547392651
        ],
        [
          0.29674089555706734,
          -0.12657109624422969,
          0.30163726012120756
        ],
        [
          0.2793750254385946,
          -0.11135575487361854,
          0.3053914354418854
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.246761167124166,
      "weight": 0.4355
    },
    {
      "marker_id": 179,
      "link": "FingerB",
      "set": "",
      "position_m": [
        0.32915099003191667,
        -0.13963875539016746,
        0.3114028553563564
      ],
      "position_mm": [
        329.15099003191665,
        -139.63875539016746,
        311.40285535635644
      ],
      "normal": [
        -0.6125139555017056,
        -0.17201383625354036,
        0.7715166196868314
      ],
      "corners_m": [
        [
          0.3158094259516793,
          -0.13583766696306043,
          0.3018083800379275
        ],
        [
          0.33070646775437573,
          -0.12403473821343082,
          0.3159752716513444
        ],
        [
          0.34273487462248836,
          -0.1440237073429093,
          0.3213504202643478
        ],
        [
          0.32735319179912326,
          -0.15465890904126925,
          0.3064773494718061
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.52667075209077,
      "weight": 0.4979
    },
    {
      "marker_id": 198,
      "link": "Arm1",
      "set": "",
      "position_m": [
        0.26853175438200816,
        -0.053978358635442654,
        0.08439827859595683
      ],
      "position_mm": [
        268.53175438200816,
        -53.97835863544265,
        84.39827859595684
      ],
      "normal": [
        0.008635583988426378,
        0.013194422906982695,
        0.9998756592163501
      ],
      "corners_m": [
        [
          0.2564369442347636,
          -0.041549903891408224,
          0.08432325606385158
        ],
        [
          0.2798400193816042,
          -0.0412622704363064,
          0.08414829402563896
        ],
        [
          0.28161734477109546,
          -0.06638731584787211,
          0.0844347377465027
        ],
        [
          0.2562327091405695,
          -0.06671394436618389,
          0.08468682654783409
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.78760988721936,
      "weight": 0.4918
    },
    {
      "marker_id": 200,
      "link": "unknown",
      "set": "",
      "position_m": [
        0.1996595055523626,
        -0.02882206145297598,
        0.11004243702297827
      ],
      "position_mm": [
        199.6595055523626,
        -28.82206145297598,
        110.04243702297826
      ],
      "normal": [
        -0.1513393766243665,
        -0.016950905622498128,
        0.9883365114582813
      ],
      "corners_m": [
        [
          0.18665785620495545,
          -0.016207523420330838,
          0.10762694221032588
        ],
        [
          0.21104837997915116,
          -0.018702807513759603,
          0.11268111143348455
        ],
        [
          0.21248846586767461,
          -0.040076819277184234,
          0.11107638953905809
        ],
        [
          0.18844332015766904,
          -0.04030109560062925,
          0.10878530490904452
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.714580941417054,
      "weight": 0.5512
    },
    {
      "marker_id": 204,
      "link": "unknown",
      "set": "",
      "position_m": [
        0.1984765740223956,
        0.11542831824770719,
        0.12090915141576847
      ],
      "position_mm": [
        198.4765740223956,
        115.4283182477072,
        120.90915141576846
      ],
      "normal": [
        0.03546403507258911,
        0.044277915694797776,
        0.9983895874848128
      ],
      "corners_m": [
        [
          0.18632741812774353,
          0.12604429359606398,
          0.12132533001126279
        ],
        [
          0.21023500632947217,
          0.12872967381799474,
          0.11950266734537837
        ],
        [
          0.2109972305473541,
          0.10326132433663346,
          0.12139195103081395
        ],
        [
          0.18634664108501267,
          0.1036779812401366,
          0.1214166572756187
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.174301619640744,
      "weight": 0.319
    },
    {
      "marker_id": 208,
      "link": "Board",
      "set": "rail",
      "position_m": [
        0.6263548460409031,
        -0.09861748413242921,
        -0.006792883816376907
      ],
      "position_mm": [
        626.3548460409031,
        -98.61748413242921,
        -6.792883816376906
      ],
      "normal": [
        -0.0008430903222964405,
        0.015370842068947767,
        0.999881506186008
      ],
      "corners_m": [
        [
          0.614230807767895,
          -0.08651647656308285,
          -0.007143804201318833
        ],
        [
          0.6378805927521303,
          -0.08673801245551091,
          -0.006804726675489914
        ],
        [
          0.6389071304923027,
          -0.11022444812110638,
          -0.006759257810994225
        ],
        [
          0.614400853151284,
          -0.11099099939001673,
          -0.006463746577704654
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.04168986172767,
      "weight": 0.5135
    },
    {
      "marker_id": 210,
      "link": "Board",
      "set": "rail",
      "position_m": [
        0.12990350318916816,
        -0.007860989622206821,
        -0.005665807819902785
      ],
      "position_mm": [
        129.90350318916816,
        -7.860989622206821,
        -5.665807819902785
      ],
      "normal": [
        0.06218884802716192,
        0.022532660923192397,
        0.9978100151696089
      ],
      "corners_m": [
        [
          0.11812523787255753,
          0.002655082362769257,
          -0.005006889677640234
        ],
        [
          0.14140445655343198,
          0.004617715410766273,
          -0.006818226965514111
        ],
        [
          0.1417852165765155,
          -0.01898482631912202,
          -0.006002346836519512
        ],
        [
          0.1182991017541676,
          -0.019731929943240793,
          -0.004835767799937283
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.24172619372823,
      "weight": 0.3847
    },
    {
      "marker_id": 214,
      "link": "unknown",
      "set": "",
      "position_m": [
        0.5316233749448692,
        -0.00858611878564643,
        -0.006826845819367963
      ],
      "position_mm": [
        531.6233749448692,
        -8.58611878564643,
        -6.826845819367963
      ],
      "normal": [
        -0.029216114754592536,
        0.041964563867683435,
        0.9986918413695196
      ],
      "corners_m": [
        [
          0.5200639817736521,
          0.004014920000578812,
          -0.007955232702632127
        ],
        [
          0.5437436861591388,
          0.0033437727637393427,
          -0.00670586095180886
        ],
        [
          0.543424610151461,
          -0.02088612093561667,
          -0.006227672713336715
        ],
        [
          0.5192612216952248,
          -0.020817046971287202,
          -0.0064186169096941475
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.253875742237295,
      "weight": 0.3994
    },
    {
      "marker_id": 217,
      "link": "Board",
      "set": "rail",
      "position_m": [
        0.7300104243586413,
        -0.008511771670393872,
        -0.004995991947031072
      ],
      "position_mm": [
        730.0104243586413,
        -8.511771670393872,
        -4.995991947031071
      ],
      "normal": [
        -0.08513421891679325,
        -0.014380586401670947,
        0.996265709288527
      ],
      "corners_m": [
        [
          0.718762967749027,
          0.003958668817858879,
          -0.0060277521587317265
        ],
        [
          0.7412507299735428,
          0.0022088131577019253,
          -0.0036254947775964112
        ],
        [
          0.7416642532933401,
          -0.02078566480972951,
          -0.004424609338446484
        ],
        [
          0.7183637464186549,
          -0.01942890384740678,
          -0.005906111513349667
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.118405458871074,
      "weight": 0.5425
    },
    {
      "marker_id": 229,
      "link": "Arm1",
      "set": "",
      "position_m": [
        0.27117371734787965,
        -0.142109938467787,
        0.07909951844444263
      ],
      "position_mm": [
        271.17371734787963,
        -142.109938467787,
        79.09951844444262
      ],
      "normal": [
        0.010621701517588964,
        -0.04516491645295307,
        0.9989230750056127
      ],
      "corners_m": [
        [
          0.25888497580027847,
          -0.13051133186568323,
          0.07949967513799078
        ],
        [
          0.2830619059411058,
          -0.13034159839295315,
          0.07976875295894265
        ],
        [
          0.28374030385188437,
          -0.15328491647851367,
          0.07820315761647183
        ],
        [
          0.2590076837982499,
          -0.15430190713399794,
          0.07892648806436525
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 23.936895358523532,
      "weight": 0.5405
    },
    {
      "marker_id": 243,
      "link": "Arm1",
      "set": "",
      "position_m": [
        0.270301287205652,
        -0.176611833712784,
        0.04373112532446407
      ],
      "position_mm": [
        270.301287205652,
        -176.611833712784,
        43.73112532446407
      ],
      "normal": [
        0.020442155933672386,
        -0.9996039038483082,
        -0.019343052292899343
      ],
      "corners_m": [
        [
          0.2583375240724305,
          -0.17731625327954492,
          0.05633103870321022
        ],
        [
          0.2826845167646905,
          -0.17635561753528006,
          0.05501022626707863
        ],
        [
          0.2822567871432804,
          -0.17635060413357947,
          0.03141262678354164
        ],
        [
          0.25792632084220674,
          -0.17642485990273152,
          0.03217060954402579
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.13148332838305,
      "weight": 0.4708
    }
  ]
}