{
  "schema_version": "1.2",
  "created_utc": "2026-06-02T22:51:36Z",
  "summary": {
    "num_cameras": 4,
    "num_markers": 27,
    "num_constraints": 94
  },
  "cameras": [
    {
      "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": "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": "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": [
        0.2866293717520479,
        -0.34613767543263485,
        0.20748165720317852
      ],
      "position_mm": [
        286.6293717520479,
        -346.13767543263486,
        207.48165720317851
      ],
      "link": "FingerA",
      "normal": [
        -0.4224220616915755,
        0.0,
        -0.9063992507699015
      ]
    },
    {
      "marker_id": 44,
      "position_m": [
        0.31990207901029866,
        -0.2884219706670669,
        0.1859655420841361
      ],
      "position_mm": [
        319.9020790102987,
        -288.4219706670669,
        185.9655420841361
      ],
      "link": "FingerB",
      "normal": [
        0.0,
        -0.9375276894468237,
        -0.34791066600565723
      ]
    },
    {
      "marker_id": 46,
      "position_m": [
        0.536615766136121,
        0.18333707822639195,
        -0.03210425363020333
      ],
      "position_mm": [
        536.615766136121,
        183.33707822639195,
        -32.10425363020333
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16796426584584784,
        -0.17363601149774527,
        -0.027293069371706342
      ],
      "position_mm": [
        167.96426584584785,
        -173.63601149774527,
        -27.29306937170634
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.48779907164894265,
        0.21113487185314397,
        -0.024215275986386287
      ],
      "position_mm": [
        487.79907164894263,
        211.13487185314398,
        -24.21527598638629
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.4986610581671343,
        0.1672276201926552,
        -0.026866164071465602
      ],
      "position_mm": [
        498.6610581671343,
        167.2276201926552,
        -26.8661640714656
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.0490904474071759,
        -0.21751679979771807,
        -0.026431266571044724
      ],
      "position_mm": [
        49.0904474071759,
        -217.51679979771808,
        -26.431266571044723
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4034327202610748,
        -0.17039579335388297,
        -0.029573957867146537
      ],
      "position_mm": [
        403.4327202610748,
        -170.39579335388296,
        -29.573957867146536
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.021891522000926516,
        -0.18684130876322072,
        -0.028800816246136708
      ],
      "position_mm": [
        -21.891522000926514,
        -186.84130876322072,
        -28.80081624613671
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 68,
      "position_m": [
        0.575142715844229,
        0.17396195605553594,
        -0.027944659153797378
      ],
      "position_mm": [
        575.1427158442291,
        173.96195605553595,
        -27.944659153797378
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.0046199336230147514,
        -0.2792128269701672,
        -0.027882650563840986
      ],
      "position_mm": [
        4.619933623014751,
        -279.2128269701672,
        -27.882650563840986
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44249652131493955,
        0.19398128725694813,
        -0.029014179537182463
      ],
      "position_mm": [
        442.49652131493957,
        193.98128725694812,
        -29.014179537182464
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3125512102775107,
        -0.1584582513111804,
        -0.027928683472516015
      ],
      "position_mm": [
        312.5512102775107,
        -158.45825131118042,
        -27.928683472516017
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18658473866701242,
        -0.2755567903250957,
        -0.027598228565405076
      ],
      "position_mm": [
        186.58473866701243,
        -275.55679032509573,
        -27.598228565405076
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.37010887879389237,
        -0.1856341474661185,
        -0.02690089984252992
      ],
      "position_mm": [
        370.10887879389236,
        -185.6341474661185,
        -26.90089984252992
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10594595332159387,
        -0.18953560009965026,
        -0.02792538032394031
      ],
      "position_mm": [
        105.94595332159388,
        -189.53560009965025,
        -27.925380323940313
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 114,
      "position_m": [
        0.2808252225627505,
        -0.2354956312578067,
        0.22095857412512623
      ],
      "position_mm": [
        280.8252225627505,
        -235.4956312578067,
        220.95857412512623
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 120,
      "position_m": [
        0.2805962241034449,
        -0.1695243324982414,
        0.24436256277920065
      ],
      "position_mm": [
        280.5962241034449,
        -169.5243324982414,
        244.36256277920066
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3527599169743148,
        -0.09161875622867452,
        0.0016516097878669883
      ],
      "position_mm": [
        352.7599169743148,
        -91.61875622867451,
        1.6516097878669882
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.022019642765127398,
        -0.019624330408505072,
        0.0008064905017171564
      ],
      "position_mm": [
        22.019642765127397,
        -19.624330408505074,
        0.8064905017171564
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.3474935518716044,
        -0.01179511722372135,
        0.0009808623803908177
      ],
      "position_mm": [
        347.49355187160444,
        -11.79511722372135,
        0.9808623803908176
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.2539125717882417,
        -0.16937069275636812,
        0.24199555602929532
      ],
      "position_mm": [
        253.91257178824173,
        -169.37069275636813,
        241.99555602929533
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 219,
      "position_m": [
        0.2549415858154943,
        -0.269866992534482,
        0.20561972391326502
      ],
      "position_mm": [
        254.9415858154943,
        -269.866992534482,
        205.61972391326503
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 231,
      "position_m": [
        0.26883922692547785,
        -0.03716960948964518,
        0.283376382240498
      ],
      "position_mm": [
        268.8392269254779,
        -37.169609489645175,
        283.376382240498
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.18058136042596573,
        -0.07787805547948148,
        0.27674063700022955
      ],
      "position_mm": [
        180.58136042596573,
        -77.87805547948149,
        276.7406370002295
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 246,
      "position_m": [
        0.26919266825154764,
        -0.0639444817583209,
        0.28416304403609866
      ],
      "position_mm": [
        269.1926682515476,
        -63.944481758320904,
        284.16304403609865
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 247,
      "position_m": [
        0.2318095779913477,
        -0.0617643730816602,
        0.2861641944983466
      ],
      "position_mm": [
        231.80957799134768,
        -61.764373081660196,
        286.1641944983466
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    }
  ]
}