{
  "schema_version": "1.2",
  "created_utc": "2026-06-02T22:54:12Z",
  "summary": {
    "num_cameras": 5,
    "num_markers": 30,
    "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": "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
      ]
    },
    {
      "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": 42,
      "position_m": [
        0.292423902683581,
        -0.3622179272337811,
        0.18952723588296513
      ],
      "position_mm": [
        292.423902683581,
        -362.2179272337811,
        189.52723588296513
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 44,
      "position_m": [
        0.32002262110270185,
        -0.28971241351099275,
        0.18681362438026317
      ],
      "position_mm": [
        320.02262110270186,
        -289.71241351099275,
        186.81362438026318
      ],
      "link": "FingerB",
      "normal": [
        0.0,
        -0.9375276894468237,
        -0.34791066600565723
      ]
    },
    {
      "marker_id": 48,
      "position_m": [
        0.6885296444457507,
        -0.32001294710714207,
        -0.026285576443648633
      ],
      "position_mm": [
        688.5296444457507,
        -320.01294710714205,
        -26.285576443648633
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 50,
      "position_m": [
        0.5710545002010963,
        0.21025313973702908,
        -0.026524327215974045
      ],
      "position_mm": [
        571.0545002010963,
        210.25313973702907,
        -26.524327215974044
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.1678190142678709,
        -0.17355010015388794,
        -0.027386097538182937
      ],
      "position_mm": [
        167.8190142678709,
        -173.55010015388794,
        -27.386097538182938
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.048923551247838495,
        -0.2172902630706426,
        -0.02650712598211966
      ],
      "position_mm": [
        48.923551247838496,
        -217.2902630706426,
        -26.50712598211966
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.6265728421522692,
        -0.2772904829036347,
        -0.027456389472277003
      ],
      "position_mm": [
        626.5728421522691,
        -277.2904829036347,
        -27.456389472277003
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 61,
      "position_m": [
        -0.02119528716669451,
        0.33205853226328474,
        -0.02502623078524726
      ],
      "position_mm": [
        -21.19528716669451,
        332.05853226328475,
        -25.02623078524726
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4032812288477795,
        -0.17220274362235352,
        -0.028209779148554482
      ],
      "position_mm": [
        403.2812288477795,
        -172.20274362235352,
        -28.20977914855448
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7753487754326611,
        -0.23612405842245351,
        -0.027868632042469747
      ],
      "position_mm": [
        775.3487754326611,
        -236.12405842245352,
        -27.86863204246975
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.021977021790081257,
        -0.1864683216617902,
        -0.029364282844814828
      ],
      "position_mm": [
        -21.977021790081256,
        -186.46832166179018,
        -29.364282844814827
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005106371259816287,
        -0.2794635888496086,
        -0.027322728752784537
      ],
      "position_mm": [
        5.106371259816287,
        -279.4635888496086,
        -27.32272875278454
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.31258853918085805,
        -0.15853864162684994,
        -0.027851027196526698
      ],
      "position_mm": [
        312.58853918085805,
        -158.53864162684994,
        -27.851027196526697
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5067151453274431,
        -0.3150589024959263,
        -0.026460911490326578
      ],
      "position_mm": [
        506.7151453274431,
        -315.05890249592625,
        -26.460911490326577
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3696229941395846,
        -0.1867456629359282,
        -0.025874638484611766
      ],
      "position_mm": [
        369.6229941395846,
        -186.7456629359282,
        -25.874638484611765
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6507385363446415,
        -0.22184720960649593,
        -0.028651656061001004
      ],
      "position_mm": [
        650.7385363446415,
        -221.84720960649594,
        -28.651656061001002
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10576296558453123,
        -0.1892907777127485,
        -0.028250766586813178
      ],
      "position_mm": [
        105.76296558453123,
        -189.29077771274848,
        -28.250766586813178
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 114,
      "position_m": [
        0.2811976757054371,
        -0.23576437760034077,
        0.22102565457435167
      ],
      "position_mm": [
        281.19767570543706,
        -235.76437760034077,
        221.02565457435168
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 115,
      "position_m": [
        0.31000251898687653,
        -0.2278654090490481,
        0.1815522295234136
      ],
      "position_mm": [
        310.0025189868765,
        -227.86540904904808,
        181.5522295234136
      ],
      "link": "Arm2",
      "normal": [
        -0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 120,
      "position_m": [
        0.28114652054842354,
        -0.1698516634362051,
        0.24459524342498548
      ],
      "position_mm": [
        281.14652054842355,
        -169.85166343620511,
        244.59524342498548
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6507336784859382,
        -0.009466226449334278,
        -0.00015106591424741592
      ],
      "position_mm": [
        650.7336784859382,
        -9.466226449334277,
        -0.15106591424741592
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35275774898131423,
        -0.09164343009893555,
        0.0016568954603863916
      ],
      "position_mm": [
        352.75774898131425,
        -91.64343009893555,
        1.6568954603863917
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.021963158627996394,
        -0.01933710895973445,
        0.0006809786189573365
      ],
      "position_mm": [
        21.963158627996396,
        -19.33710895973445,
        0.6809786189573365
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34750234502732275,
        -0.011818992272181975,
        0.0009952638190729732
      ],
      "position_mm": [
        347.50234502732275,
        -11.818992272181974,
        0.9952638190729732
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.2544391887921733,
        -0.1708023976281821,
        0.24273594432673531
      ],
      "position_mm": [
        254.4391887921733,
        -170.80239762818212,
        242.7359443267353
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 219,
      "position_m": [
        0.25503886013348287,
        -0.26991923913792537,
        0.20567003677064832
      ],
      "position_mm": [
        255.03886013348287,
        -269.9192391379254,
        205.67003677064832
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.17419177954819098,
        -0.01456918751078767,
        0.24197624475810248
      ],
      "position_mm": [
        174.191779548191,
        -14.56918751078767,
        241.97624475810247
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 244,
      "position_m": [
        0.3095449360928377,
        -0.05785139719179031,
        0.25703319002684477
      ],
      "position_mm": [
        309.5449360928377,
        -57.85139719179031,
        257.03319002684475
      ],
      "link": "Ellbow",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 246,
      "position_m": [
        0.2697228673774789,
        -0.06813025139419837,
        0.2845750959580609
      ],
      "position_mm": [
        269.7228673774789,
        -68.13025139419837,
        284.5750959580609
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 247,
      "position_m": [
        0.2325964983033317,
        -0.06327485614224543,
        0.28665207897054634
      ],
      "position_mm": [
        232.5964983033317,
        -63.274856142245426,
        286.65207897054637
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    }
  ]
}