{
  "schema_version": "1.2",
  "created_utc": "2026-06-02T22:51:13Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 23,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "a",
      "position_m": [
        -0.3001274357176493,
        -0.7979520803678932,
        0.8009902676185592
      ],
      "position_mm": [
        -300.12743571764935,
        -797.9520803678932,
        800.9902676185592
      ],
      "direction": [
        0.4789915382862091,
        0.6567302346229553,
        -0.5824710726737976
      ]
    },
    {
      "camera_id": "e",
      "position_m": [
        1.2059563341749637,
        -0.9025538118437437,
        0.4061715893081437
      ],
      "position_mm": [
        1205.9563341749638,
        -902.5538118437437,
        406.17158930814367
      ],
      "direction": [
        -0.750444233417511,
        0.60433429479599,
        -0.2676071226596832
      ]
    },
    {
      "camera_id": "f",
      "position_m": [
        0.4848910479147168,
        -0.3064199973610857,
        1.40194389878924
      ],
      "position_mm": [
        484.8910479147168,
        -306.41999736108573,
        1401.9438987892402
      ],
      "direction": [
        -0.22731362283229828,
        0.08567609637975693,
        -0.9700454473495483
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 44,
      "position_m": [
        0.31717586902896916,
        -0.2898707889968962,
        0.18845597442495193
      ],
      "position_mm": [
        317.17586902896915,
        -289.87078899689624,
        188.45597442495193
      ],
      "link": "FingerB",
      "normal": [
        0.0,
        -0.9375276894468237,
        -0.34791066600565723
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.34441241130493705,
        -0.28702087202946197,
        -0.02859022669918298
      ],
      "position_mm": [
        344.41241130493705,
        -287.020872029462,
        -28.590226699182978
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16695461589931274,
        -0.17358273180081518,
        -0.02670980302120692
      ],
      "position_mm": [
        166.95461589931273,
        -173.58273180081517,
        -26.70980302120692
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 61,
      "position_m": [
        -0.022058360727189724,
        0.3329083009445307,
        -0.02584824674739978
      ],
      "position_mm": [
        -22.058360727189726,
        332.9083009445307,
        -25.84824674739978
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4029178425876127,
        -0.17350797140528795,
        -0.02703139322269624
      ],
      "position_mm": [
        402.9178425876127,
        -173.50797140528795,
        -27.03139322269624
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 75,
      "position_m": [
        -0.027402789362149915,
        0.19241829937263727,
        -0.026061733714724845
      ],
      "position_mm": [
        -27.402789362149914,
        192.41829937263728,
        -26.061733714724845
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3118930090400277,
        -0.15843772072756093,
        -0.027736487198469138
      ],
      "position_mm": [
        311.8930090400277,
        -158.43772072756093,
        -27.73648719846914
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5055055222581594,
        -0.3141225295169941,
        -0.02712414133672379
      ],
      "position_mm": [
        505.5055222581594,
        -314.1225295169941,
        -27.12414133672379
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3687811938458565,
        -0.18677833459509718,
        -0.02412959042551772
      ],
      "position_mm": [
        368.7811938458565,
        -186.7783345950972,
        -24.129590425517723
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 97,
      "position_m": [
        0.3060522405429532,
        -0.3582848922318303,
        -0.02698760883983999
      ],
      "position_mm": [
        306.0522405429532,
        -358.2848922318303,
        -26.98760883983999
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.651297827905736,
        -0.22385611525854926,
        -0.02753841321432841
      ],
      "position_mm": [
        651.297827905736,
        -223.85611525854927,
        -27.53841321432841
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10497839583715099,
        -0.18958789462855163,
        -0.02820988045117591
      ],
      "position_mm": [
        104.97839583715098,
        -189.58789462855162,
        -28.20988045117591
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 114,
      "position_m": [
        0.278347409424341,
        -0.2374974417926573,
        0.22308677490004578
      ],
      "position_mm": [
        278.347409424341,
        -237.4974417926573,
        223.08677490004578
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 120,
      "position_m": [
        0.2776381942859233,
        -0.1716727403242317,
        0.24689024162619688
      ],
      "position_mm": [
        277.6381942859233,
        -171.67274032423168,
        246.89024162619688
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6507104329237147,
        -0.00920844005835144,
        -0.0001831079851655832
      ],
      "position_mm": [
        650.7104329237146,
        -9.20844005835144,
        -0.18310798516558321
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35121492808324034,
        -0.09092824778949325,
        0.0015125309196540066
      ],
      "position_mm": [
        351.21492808324035,
        -90.92824778949326,
        1.5125309196540067
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.021647921302405854,
        -0.020252498353887025,
        0.001032423275416521
      ],
      "position_mm": [
        21.647921302405855,
        -20.252498353887024,
        1.032423275416521
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.3479460717860557,
        -0.01101350936459292,
        -0.00020410776799868567
      ],
      "position_mm": [
        347.9460717860557,
        -11.01350936459292,
        -0.20410776799868569
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.25125624314461753,
        -0.1696831098688618,
        0.2426870555672482
      ],
      "position_mm": [
        251.25624314461754,
        -169.68310986886178,
        242.6870555672482
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 219,
      "position_m": [
        0.2526669021010188,
        -0.2719789352823113,
        0.20765414776351449
      ],
      "position_mm": [
        252.66690210101876,
        -271.97893528231134,
        207.6541477635145
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.2453225673473328,
        0.036500764321513494,
        0.12920006634418849
      ],
      "position_mm": [
        245.32256734733278,
        36.50076432151349,
        129.20006634418849
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 246,
      "position_m": [
        0.2672211098776505,
        -0.06995768071967029,
        0.2870878837261106
      ],
      "position_mm": [
        267.2211098776505,
        -69.9576807196703,
        287.0878837261106
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 247,
      "position_m": [
        0.23024261604437132,
        -0.06397293422266266,
        0.28882766890231687
      ],
      "position_mm": [
        230.24261604437132,
        -63.97293422266266,
        288.8276689023169
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    }
  ]
}