{
  "schema_version": "1.2",
  "created_utc": "2026-06-02T22:48:55Z",
  "summary": {
    "num_cameras": 5,
    "num_markers": 36,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "b",
      "position_m": [
        0.30461140290596656,
        -0.8944597684480516,
        1.2009159512639083
      ],
      "position_mm": [
        304.61140290596654,
        -894.4597684480516,
        1200.9159512639083
      ],
      "direction": [
        0.0052360002882778645,
        0.6241788864135742,
        -0.7812638878822327
      ]
    },
    {
      "camera_id": "c",
      "position_m": [
        0.2064071124379028,
        -0.926187065022701,
        0.3357318521749194
      ],
      "position_mm": [
        206.4071124379028,
        -926.187065022701,
        335.7318521749194
      ],
      "direction": [
        0.0031979582272469997,
        0.9754828810691833,
        -0.2200520932674408
      ]
    },
    {
      "camera_id": "d",
      "position_m": [
        0.7059955951329147,
        -0.792357011835109,
        0.3960723600448604
      ],
      "position_mm": [
        705.9955951329147,
        -792.357011835109,
        396.07236004486043
      ],
      "direction": [
        -0.5582603812217712,
        0.781305193901062,
        -0.27911919355392456
      ]
    },
    {
      "camera_id": "f",
      "position_m": [
        0.4736207498765008,
        -0.30539278460248376,
        1.4078360695716652
      ],
      "position_mm": [
        473.62074987650084,
        -305.39278460248374,
        1407.8360695716651
      ],
      "direction": [
        -0.21933329105377197,
        0.08437186479568481,
        -0.9719949960708618
      ]
    },
    {
      "camera_id": "g",
      "position_m": [
        -0.20357531848645133,
        0.2063757854729154,
        1.4019736717044806
      ],
      "position_mm": [
        -203.57531848645132,
        206.3757854729154,
        1401.9736717044807
      ],
      "direction": [
        0.2981155812740326,
        -0.30005064606666565,
        -0.906143844127655
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 46,
      "position_m": [
        0.5366834597587004,
        0.18391306027827192,
        -0.030334723504886328
      ],
      "position_mm": [
        536.6834597587003,
        183.91306027827193,
        -30.334723504886327
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 48,
      "position_m": [
        0.6878936531470378,
        -0.31877039463169543,
        -0.027863277861213124
      ],
      "position_mm": [
        687.8936531470378,
        -318.7703946316954,
        -27.863277861213124
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.48797242795670864,
        0.21145024651181848,
        -0.023470767920463945
      ],
      "position_mm": [
        487.97242795670866,
        211.45024651181848,
        -23.470767920463945
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3401263572692409,
        -0.3281287750983012,
        -0.026868861383894795
      ],
      "position_mm": [
        340.1263572692409,
        -328.12877509830116,
        -26.868861383894796
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.28472202195244867,
        -0.26176285267711613,
        -0.02637260069815667
      ],
      "position_mm": [
        284.72202195244864,
        -261.76285267711614,
        -26.37260069815667
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.49879544531519204,
        0.16750339631460068,
        -0.025566832045744635
      ],
      "position_mm": [
        498.79544531519207,
        167.50339631460068,
        -25.566832045744636
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.0490792822023052,
        -0.21686576996451656,
        -0.027201531284912754
      ],
      "position_mm": [
        49.0792822023052,
        -216.86576996451657,
        -27.201531284912754
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.6260100476874741,
        -0.27597505746087797,
        -0.025812947566966688
      ],
      "position_mm": [
        626.0100476874742,
        -275.97505746087796,
        -25.812947566966688
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 61,
      "position_m": [
        -0.020784572573624833,
        0.33169697032428325,
        -0.02486234870447089
      ],
      "position_mm": [
        -20.784572573624832,
        331.69697032428326,
        -24.86234870447089
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4040216116677727,
        -0.17220856365057227,
        -0.030775172874961457
      ],
      "position_mm": [
        404.0216116677727,
        -172.20856365057227,
        -30.775172874961456
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7753109397044147,
        -0.23605738659782843,
        -0.028111707623676034
      ],
      "position_mm": [
        775.3109397044146,
        -236.05738659782844,
        -28.111707623676033
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.02251182652761916,
        -0.18760223903931852,
        -0.02904547352209374
      ],
      "position_mm": [
        -22.51182652761916,
        -187.60223903931853,
        -29.04547352209374
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 68,
      "position_m": [
        0.5750387851197891,
        0.173409353301684,
        -0.027495360817506437
      ],
      "position_mm": [
        575.0387851197892,
        173.409353301684,
        -27.495360817506437
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005672439111701355,
        -0.2793293924480354,
        -0.02667663179356977
      ],
      "position_mm": [
        5.6724391117013555,
        -279.3293924480354,
        -26.676631793569772
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 71,
      "position_m": [
        0.7509668867362358,
        -0.28565988771911466,
        -0.0266764739500539
      ],
      "position_mm": [
        750.9668867362358,
        -285.65988771911464,
        -26.6764739500539
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44263953858948324,
        0.19436911954582206,
        -0.028241594163063335
      ],
      "position_mm": [
        442.63953858948327,
        194.36911954582206,
        -28.241594163063336
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 73,
      "position_m": [
        0.2217989227166416,
        0.33146517758868377,
        -0.027059868098410527
      ],
      "position_mm": [
        221.79892271664158,
        331.4651775886838,
        -27.059868098410526
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3122095892656322,
        -0.15854494125101143,
        -0.026685873690476453
      ],
      "position_mm": [
        312.2095892656322,
        -158.54494125101144,
        -26.685873690476452
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5066832905547585,
        -0.3137972657641805,
        -0.027304821526870117
      ],
      "position_mm": [
        506.68329055475846,
        -313.7972657641805,
        -27.304821526870118
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.36214942431385677,
        0.29444532281011926,
        -0.026913273463947195
      ],
      "position_mm": [
        362.1494243138568,
        294.44532281011925,
        -26.913273463947196
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6466776540961541,
        -0.1855684039775156,
        -0.0273487164709572
      ],
      "position_mm": [
        646.6776540961541,
        -185.5684039775156,
        -27.3487164709572
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18742084316918037,
        -0.27663122518707306,
        -0.027209409330047007
      ],
      "position_mm": [
        187.42084316918036,
        -276.6312251870731,
        -27.20940933004701
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3698854596981988,
        -0.18546529118364904,
        -0.027806340775495784
      ],
      "position_mm": [
        369.8854596981988,
        -185.46529118364904,
        -27.806340775495784
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 101,
      "position_m": [
        0.11496559111063567,
        0.29949455957397375,
        -0.026210957528959515
      ],
      "position_mm": [
        114.96559111063567,
        299.49455957397373,
        -26.210957528959515
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10702097661343181,
        -0.19118064077593067,
        -0.02633569338117992
      ],
      "position_mm": [
        107.02097661343181,
        -191.18064077593067,
        -26.335693381179922
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.2640151811898495,
        0.03905035764140121,
        0.09341671107049888
      ],
      "position_mm": [
        264.0151811898495,
        39.05035764140121,
        93.41671107049888
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.16022795771271356,
        -0.05184926220365309,
        0.09712840724172457
      ],
      "position_mm": [
        160.22795771271356,
        -51.84926220365309,
        97.12840724172457
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 205,
      "position_m": [
        0.7526886598960659,
        -0.09003715337158871,
        -0.00026813273315077303
      ],
      "position_mm": [
        752.6886598960659,
        -90.03715337158872,
        -0.268132733150773
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35242207470211473,
        -0.09097664317789736,
        0.0011842004568840049
      ],
      "position_mm": [
        352.42207470211474,
        -90.97664317789736,
        1.1842004568840048
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02244627373054739,
        -0.02083195450759136,
        0.0014954113164025052
      ],
      "position_mm": [
        22.44627373054739,
        -20.831954507591362,
        1.4954113164025051
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.3476103613002564,
        -0.011125185739207523,
        0.00041697901514089905
      ],
      "position_mm": [
        347.6103613002564,
        -11.125185739207522,
        0.4169790151408991
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6467937591641184,
        -0.09029718061116743,
        -0.0008179706480133908
      ],
      "position_mm": [
        646.7937591641185,
        -90.29718061116742,
        -0.8179706480133908
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.15639020084076044,
        -0.14159618678409494,
        0.09158218846857347
      ],
      "position_mm": [
        156.39020084076043,
        -141.59618678409495,
        91.58218846857346
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 232,
      "position_m": [
        0.24486863955673185,
        -0.1638554409207008,
        0.08065910909891405
      ],
      "position_mm": [
        244.86863955673186,
        -163.8554409207008,
        80.65910909891404
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.15679220550953465,
        -0.1716326110540335,
        0.05224189885591149
      ],
      "position_mm": [
        156.79220550953465,
        -171.6326110540335,
        52.24189885591149
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.24830557207779516,
        -0.14187081633912807,
        0.09557484792596266
      ],
      "position_mm": [
        248.30557207779515,
        -141.87081633912808,
        95.57484792596266
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}