{
  "schema_version": "1.2",
  "created_utc": "2026-06-02T22:52:42Z",
  "summary": {
    "num_cameras": 4,
    "num_markers": 38,
    "num_constraints": 94
  },
  "cameras": [
    {
      "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": "c",
      "position_m": [
        0.30222042083446865,
        -0.9015130863831495,
        0.39827613859571753
      ],
      "position_mm": [
        302.22042083446865,
        -901.5130863831496,
        398.27613859571755
      ],
      "direction": [
        -0.10769812762737274,
        0.9494794607162476,
        -0.2947707772254944
      ]
    },
    {
      "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
      ]
    },
    {
      "camera_id": "g",
      "position_m": [
        -0.20647920852698148,
        0.20854052825566233,
        1.3996693000606282
      ],
      "position_mm": [
        -206.4792085269815,
        208.54052825566234,
        1399.669300060628
      ],
      "direction": [
        0.30005520582199097,
        -0.30117395520210266,
        -0.9051304459571838
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 40,
      "position_m": [
        0.2866935480782366,
        -0.34645887676983655,
        0.20612028790779083
      ],
      "position_mm": [
        286.69354807823663,
        -346.45887676983654,
        206.12028790779084
      ],
      "link": "FingerA",
      "normal": [
        -0.4224220616915755,
        0.0,
        -0.9063992507699015
      ]
    },
    {
      "marker_id": 42,
      "position_m": [
        0.2924151188572537,
        -0.3620003682836885,
        0.18945457460155318
      ],
      "position_mm": [
        292.4151188572537,
        -362.0003682836885,
        189.4545746015532
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 44,
      "position_m": [
        0.3197105619391847,
        -0.2897540699141595,
        0.1861704209925245
      ],
      "position_mm": [
        319.7105619391847,
        -289.75406991415946,
        186.1704209925245
      ],
      "link": "FingerB",
      "normal": [
        0.0,
        -0.9375276894468237,
        -0.34791066600565723
      ]
    },
    {
      "marker_id": 46,
      "position_m": [
        0.5366339400124878,
        0.18331649634467387,
        -0.03205027579057644
      ],
      "position_mm": [
        536.6339400124878,
        183.31649634467388,
        -32.05027579057644
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 48,
      "position_m": [
        0.6874621002801999,
        -0.31844195040808326,
        -0.027511150890935508
      ],
      "position_mm": [
        687.4621002801999,
        -318.44195040808324,
        -27.511150890935507
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 50,
      "position_m": [
        0.5720134210172741,
        0.2146088783099449,
        -0.028844733340451758
      ],
      "position_mm": [
        572.0134210172741,
        214.6088783099449,
        -28.844733340451757
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16780626568370247,
        -0.17342868769176054,
        -0.027710271379013385
      ],
      "position_mm": [
        167.80626568370246,
        -173.42868769176053,
        -27.710271379013385
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.48779939285766943,
        0.21113560207218215,
        -0.02421808720139738
      ],
      "position_mm": [
        487.79939285766943,
        211.13560207218217,
        -24.21808720139738
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.49866168647818293,
        0.16722868097270807,
        -0.026873188375287228
      ],
      "position_mm": [
        498.66168647818296,
        167.22868097270808,
        -26.873188375287228
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.049244843487142115,
        -0.2180988870468669,
        -0.02568055992915266
      ],
      "position_mm": [
        49.24484348714211,
        -218.09888704686688,
        -25.68055992915266
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.6244303184236513,
        -0.27744552522914495,
        -0.024117123655282888
      ],
      "position_mm": [
        624.4303184236512,
        -277.44552522914495,
        -24.11712365528289
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 61,
      "position_m": [
        -0.02119528716518576,
        0.33205853226033755,
        -0.025026230780758794
      ],
      "position_mm": [
        -21.19528716518576,
        332.05853226033753,
        -25.026230780758794
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40433422560468163,
        -0.17288426891637,
        -0.028113745432152955
      ],
      "position_mm": [
        404.33422560468165,
        -172.88426891637,
        -28.113745432152953
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7752778489867331,
        -0.236452560661749,
        -0.027783361908269494
      ],
      "position_mm": [
        775.2778489867331,
        -236.452560661749,
        -27.783361908269494
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.021407011668836257,
        -0.1867317054571063,
        -0.028755543041246903
      ],
      "position_mm": [
        -21.407011668836258,
        -186.7317054571063,
        -28.755543041246902
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 68,
      "position_m": [
        0.5749797860216647,
        0.1735263838745749,
        -0.027226288470928353
      ],
      "position_mm": [
        574.9797860216646,
        173.5263838745749,
        -27.226288470928353
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.004589546718288901,
        -0.27961251477333043,
        -0.02853015660878035
      ],
      "position_mm": [
        4.589546718288902,
        -279.6125147733304,
        -28.53015660878035
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 71,
      "position_m": [
        0.7509012603415085,
        -0.2860382396955363,
        -0.02631915893504647
      ],
      "position_mm": [
        750.9012603415085,
        -286.03823969553633,
        -26.31915893504647
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44249682556923875,
        0.19398146968354915,
        -0.029014872149167616
      ],
      "position_mm": [
        442.49682556923875,
        193.98146968354916,
        -29.014872149167616
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.312432735205338,
        -0.15881618122238217,
        -0.02782631079467613
      ],
      "position_mm": [
        312.43273520533796,
        -158.81618122238217,
        -27.82631079467613
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5071040965825436,
        -0.313967751067435,
        -0.02789273990185023
      ],
      "position_mm": [
        507.1040965825436,
        -313.967751067435,
        -27.89273990185023
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.36185715720398176,
        0.2948975779868145,
        -0.02679968572283667
      ],
      "position_mm": [
        361.8571572039818,
        294.8975779868145,
        -26.79968572283667
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.37001965291160716,
        -0.18592005320987454,
        -0.026562386067086878
      ],
      "position_mm": [
        370.0196529116072,
        -185.92005320987454,
        -26.562386067086877
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6517522078569586,
        -0.2236340968136986,
        -0.02826650881218119
      ],
      "position_mm": [
        651.7522078569586,
        -223.63409681369862,
        -28.26650881218119
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10589634730455211,
        -0.18975617911234496,
        -0.02792275514709727
      ],
      "position_mm": [
        105.89634730455211,
        -189.75617911234497,
        -27.92275514709727
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 105,
      "position_m": [
        0.5230769258856885,
        -0.26584198247915153,
        -0.029116006240659333
      ],
      "position_mm": [
        523.0769258856885,
        -265.8419824791515,
        -29.11600624065933
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 114,
      "position_m": [
        0.28075868342369215,
        -0.2362904315773726,
        0.2213550620794732
      ],
      "position_mm": [
        280.75868342369216,
        -236.2904315773726,
        221.35506207947319
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 120,
      "position_m": [
        0.28043587063304104,
        -0.17041072539435426,
        0.24501450736214453
      ],
      "position_mm": [
        280.435870633041,
        -170.41072539435424,
        245.01450736214454
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 205,
      "position_m": [
        0.7529775739981686,
        -0.09020527802370477,
        -0.0002881239349344516
      ],
      "position_mm": [
        752.9775739981685,
        -90.20527802370478,
        -0.2881239349344516
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3523501194664357,
        -0.09129565631208005,
        0.0005784580453549708
      ],
      "position_mm": [
        352.3501194664357,
        -91.29565631208004,
        0.5784580453549708
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.021961766184977895,
        -0.019342967562692905,
        0.000680133403856158
      ],
      "position_mm": [
        21.961766184977893,
        -19.342967562692905,
        0.6801334038561581
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6471580201803996,
        -0.08908729634788635,
        -0.0005676210688235341
      ],
      "position_mm": [
        647.1580201803996,
        -89.08729634788635,
        -0.5676210688235341
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.2538203367495463,
        -0.16956292546300514,
        0.2420926030469138
      ],
      "position_mm": [
        253.8203367495463,
        -169.56292546300514,
        242.0926030469138
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 219,
      "position_m": [
        0.2548694276484181,
        -0.2705173743250524,
        0.20570602710959657
      ],
      "position_mm": [
        254.86942764841808,
        -270.5173743250524,
        205.70602710959656
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 231,
      "position_m": [
        0.2688312705915337,
        -0.037166192424952206,
        0.2833879304494061
      ],
      "position_mm": [
        268.8312705915337,
        -37.16619242495221,
        283.3879304494061
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.1805923133086341,
        -0.07791510834232765,
        0.27763332501169063
      ],
      "position_mm": [
        180.5923133086341,
        -77.91510834232766,
        277.63332501169066
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 246,
      "position_m": [
        0.2691377294548218,
        -0.06394140462364142,
        0.2841826795336846
      ],
      "position_mm": [
        269.1377294548218,
        -63.941404623641425,
        284.18267953368456
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 247,
      "position_m": [
        0.23179589291738809,
        -0.06185662918313763,
        0.28692026688607297
      ],
      "position_mm": [
        231.79589291738807,
        -61.856629183137635,
        286.92026688607297
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    }
  ]
}