{
  "schema_version": "1.2",
  "created_utc": "2026-06-02T22:52:19Z",
  "summary": {
    "num_cameras": 4,
    "num_markers": 30,
    "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": "b",
      "position_m": [
        0.30646773723406184,
        -0.8952954576450594,
        1.2012608829797486
      ],
      "position_mm": [
        306.4677372340618,
        -895.2954576450594,
        1201.2608829797487
      ],
      "direction": [
        0.00400501536205411,
        0.6243181228637695,
        -0.7811599373817444
      ]
    },
    {
      "camera_id": "d",
      "position_m": [
        0.7046937746856436,
        -0.7914174011623307,
        0.3989527588758248
      ],
      "position_mm": [
        704.6937746856437,
        -791.4174011623307,
        398.9527588758248
      ],
      "direction": [
        -0.5576696991920471,
        0.7805226445198059,
        -0.28246936202049255
      ]
    },
    {
      "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
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 42,
      "position_m": [
        0.29275268755665607,
        -0.3614403564578542,
        0.18883821544357127
      ],
      "position_mm": [
        292.75268755665604,
        -361.4403564578542,
        188.83821544357127
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 44,
      "position_m": [
        0.3216934868709546,
        -0.29099679847319515,
        0.18808414048751407
      ],
      "position_mm": [
        321.6934868709546,
        -290.99679847319516,
        188.08414048751408
      ],
      "link": "FingerB",
      "normal": [
        0.0,
        -0.9375276894468237,
        -0.34791066600565723
      ]
    },
    {
      "marker_id": 48,
      "position_m": [
        0.6881705880515714,
        -0.31959502861833616,
        -0.026594318888895453
      ],
      "position_mm": [
        688.1705880515714,
        -319.5950286183362,
        -26.59431888889545
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.1675998982993319,
        -0.17354272314047678,
        -0.02722689118103226
      ],
      "position_mm": [
        167.5998982993319,
        -173.54272314047677,
        -27.22689118103226
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3403385835602103,
        -0.32699071638596583,
        -0.028422201146580277
      ],
      "position_mm": [
        340.3385835602103,
        -326.9907163859658,
        -28.422201146580278
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.6259156439784891,
        -0.2773050890336947,
        -0.02764783263702657
      ],
      "position_mm": [
        625.9156439784891,
        -277.30508903369474,
        -27.64783263702657
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 61,
      "position_m": [
        -0.02198966371550227,
        0.334449475555369,
        -0.02679402554372382
      ],
      "position_mm": [
        -21.98966371550227,
        334.449475555369,
        -26.79402554372382
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40422866129943247,
        -0.17572682019321206,
        -0.025763529748496546
      ],
      "position_mm": [
        404.2286612994325,
        -175.72682019321206,
        -25.763529748496545
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7753487754328814,
        -0.23612405842270312,
        -0.027868632041416947
      ],
      "position_mm": [
        775.3487754328814,
        -236.12405842270311,
        -27.868632041416948
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.019118465494262205,
        -0.190180467112505,
        -0.02732890039703877
      ],
      "position_mm": [
        -19.118465494262207,
        -190.180467112505,
        -27.32890039703877
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005999838376350716,
        -0.27798687946642525,
        -0.027511023296393003
      ],
      "position_mm": [
        5.9998383763507155,
        -277.98687946642525,
        -27.511023296393002
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5061870399166163,
        -0.31413878378404964,
        -0.027085736189273544
      ],
      "position_mm": [
        506.1870399166163,
        -314.1387837840496,
        -27.085736189273543
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 94,
      "position_m": [
        0.8724003948444156,
        0.1737697412630946,
        -0.02624930608497825
      ],
      "position_mm": [
        872.4003948444156,
        173.7697412630946,
        -26.24930608497825
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18651308772049055,
        -0.2754074176566625,
        -0.02795979218155274
      ],
      "position_mm": [
        186.51308772049055,
        -275.4074176566625,
        -27.95979218155274
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.369194139774835,
        -0.1866807728507626,
        -0.024205324052336205
      ],
      "position_mm": [
        369.194139774835,
        -186.6807728507626,
        -24.205324052336206
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6514451536060764,
        -0.22246588458464564,
        -0.028166874109602436
      ],
      "position_mm": [
        651.4451536060764,
        -222.46588458464564,
        -28.166874109602436
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10543541696096166,
        -0.18869225290661984,
        -0.02957989979146469
      ],
      "position_mm": [
        105.43541696096166,
        -188.69225290661984,
        -29.57989979146469
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 105,
      "position_m": [
        0.524334112203419,
        -0.26684135268822534,
        -0.029606722634179735
      ],
      "position_mm": [
        524.334112203419,
        -266.84135268822536,
        -29.606722634179736
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 114,
      "position_m": [
        0.2814265583263759,
        -0.23526200585899332,
        0.22093853054797144
      ],
      "position_mm": [
        281.4265583263759,
        -235.26200585899332,
        220.93853054797145
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 115,
      "position_m": [
        0.3099606998724712,
        -0.22754973783356175,
        0.18123234347750736
      ],
      "position_mm": [
        309.9606998724712,
        -227.54973783356175,
        181.23234347750736
      ],
      "link": "Arm2",
      "normal": [
        -0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 120,
      "position_m": [
        0.28257826365506117,
        -0.16932988364572313,
        0.24442541495926295
      ],
      "position_mm": [
        282.57826365506116,
        -169.32988364572313,
        244.42541495926295
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 205,
      "position_m": [
        0.7528453921243574,
        -0.0907086523302209,
        0.00012722230632320334
      ],
      "position_mm": [
        752.8453921243574,
        -90.7086523302209,
        0.12722230632320333
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6506706230975723,
        -0.009333621930360957,
        -0.0002582883660667802
      ],
      "position_mm": [
        650.6706230975723,
        -9.333621930360957,
        -0.2582883660667802
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35233420945804417,
        -0.08998305964351705,
        0.0013563581680963767
      ],
      "position_mm": [
        352.33420945804414,
        -89.98305964351705,
        1.3563581680963768
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 211,
      "position_m": [
        0.2523862789483914,
        -0.00952006709444404,
        0.00031276156748212417
      ],
      "position_mm": [
        252.38627894839138,
        -9.52006709444404,
        0.3127615674821242
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34688976195295423,
        -0.010176010605401896,
        0.00026558462195408906
      ],
      "position_mm": [
        346.88976195295425,
        -10.176010605401896,
        0.26558462195408905
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6469803930796398,
        -0.08924818640644497,
        -4.743191023539028e-05
      ],
      "position_mm": [
        646.9803930796398,
        -89.24818640644497,
        -0.047431910235390284
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.19307732829347138,
        -0.0042611452164127315,
        0.2271077822335942
      ],
      "position_mm": [
        193.07732829347137,
        -4.261145216412731,
        227.1077822335942
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 244,
      "position_m": [
        0.31033946820173136,
        -0.057329761428301866,
        0.25643223238357976
      ],
      "position_mm": [
        310.33946820173134,
        -57.329761428301865,
        256.4322323835798
      ],
      "link": "Ellbow",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 247,
      "position_m": [
        0.2321080362862147,
        -0.061423660061127504,
        0.2859939761222235
      ],
      "position_mm": [
        232.1080362862147,
        -61.42366006112751,
        285.9939761222235
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    }
  ]
}