{
  "schema_version": "1.2",
  "created_utc": "2026-06-02T22:53:04Z",
  "summary": {
    "num_cameras": 5,
    "num_markers": 40,
    "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": "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
      ]
    },
    {
      "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": [
        0.28662937175125947,
        -0.3461376754327772,
        0.20748165720077813
      ],
      "position_mm": [
        286.62937175125944,
        -346.1376754327772,
        207.48165720077813
      ],
      "link": "FingerA",
      "normal": [
        -0.4224220616915755,
        0.0,
        -0.9063992507699015
      ]
    },
    {
      "marker_id": 44,
      "position_m": [
        0.3203601918629497,
        -0.28990293083801766,
        0.18759329367320804
      ],
      "position_mm": [
        320.36019186294965,
        -289.90293083801765,
        187.59329367320805
      ],
      "link": "FingerB",
      "normal": [
        0.0,
        -0.9375276894468237,
        -0.34791066600565723
      ]
    },
    {
      "marker_id": 46,
      "position_m": [
        0.5366155775969134,
        0.18333690823511828,
        -0.03210348581062531
      ],
      "position_mm": [
        536.6155775969133,
        183.33690823511827,
        -32.10348581062531
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 48,
      "position_m": [
        0.6881725772645334,
        -0.3194226573058206,
        -0.026810084927230984
      ],
      "position_mm": [
        688.1725772645334,
        -319.42265730582056,
        -26.810084927230985
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16859045173987658,
        -0.17379258297401998,
        -0.026864019219444087
      ],
      "position_mm": [
        168.59045173987658,
        -173.79258297401998,
        -26.86401921944409
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.487799309040857,
        0.21113502987185662,
        -0.02421663172354084
      ],
      "position_mm": [
        487.799309040857,
        211.1350298718566,
        -24.21663172354084
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.49866086162633166,
        0.1672275312789146,
        -0.02686520500373438
      ],
      "position_mm": [
        498.66086162633167,
        167.2275312789146,
        -26.86520500373438
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 57,
      "position_m": [
        0.6025809035683065,
        -0.36304580908505285,
        -0.028264984329997495
      ],
      "position_mm": [
        602.5809035683066,
        -363.04580908505284,
        -28.264984329997496
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.049534469851015034,
        -0.21720088460829276,
        -0.02650244095353329
      ],
      "position_mm": [
        49.53446985101503,
        -217.20088460829277,
        -26.502440953533288
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.6255641548191927,
        -0.27764983854936065,
        -0.027475142100575205
      ],
      "position_mm": [
        625.5641548191927,
        -277.64983854936065,
        -27.475142100575205
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 61,
      "position_m": [
        -0.021195287163716808,
        0.33205853225746385,
        -0.02502623077603807
      ],
      "position_mm": [
        -21.195287163716806,
        332.05853225746387,
        -25.02623077603807
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4045180005574577,
        -0.1749485474569142,
        -0.02623471328280092
      ],
      "position_mm": [
        404.5180005574577,
        -174.9485474569142,
        -26.23471328280092
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7754395135676021,
        -0.23632332868115172,
        -0.02771302420117153
      ],
      "position_mm": [
        775.4395135676021,
        -236.3233286811517,
        -27.71302420117153
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.021952467669000126,
        -0.18777385224352383,
        -0.029454406354785096
      ],
      "position_mm": [
        -21.952467669000125,
        -187.77385224352383,
        -29.454406354785096
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 68,
      "position_m": [
        0.5751426560360029,
        0.17396197450311285,
        -0.02794465904154017
      ],
      "position_mm": [
        575.1426560360029,
        173.96197450311286,
        -27.94465904154017
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005157966568296369,
        -0.2789719866782268,
        -0.027594404031586972
      ],
      "position_mm": [
        5.157966568296369,
        -278.9719866782268,
        -27.594404031586972
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 71,
      "position_m": [
        0.7510415256810022,
        -0.2859060102596953,
        -0.026530799662093447
      ],
      "position_mm": [
        751.0415256810022,
        -285.90601025969534,
        -26.530799662093447
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.4424966690980303,
        0.19398134709422715,
        -0.029014337896160824
      ],
      "position_mm": [
        442.49666909803034,
        193.98134709422715,
        -29.014337896160825
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5065117649185353,
        -0.31443269620131686,
        -0.02692340500338585
      ],
      "position_mm": [
        506.51176491853533,
        -314.43269620131684,
        -26.923405003385852
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.3618571572065674,
        0.2948975779908048,
        -0.02679968573137236
      ],
      "position_mm": [
        361.8571572065674,
        294.8975779908048,
        -26.79968573137236
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.1867519591370549,
        -0.2757947821630498,
        -0.0274724398563875
      ],
      "position_mm": [
        186.75195913705488,
        -275.79478216304983,
        -27.4724398563875
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3702296345719086,
        -0.18690257773018915,
        -0.020645139853359255
      ],
      "position_mm": [
        370.2296345719086,
        -186.90257773018914,
        -20.645139853359254
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6512840534139389,
        -0.22289922188328484,
        -0.027948699924271167
      ],
      "position_mm": [
        651.2840534139389,
        -222.89922188328484,
        -27.948699924271168
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10656856764172679,
        -0.18961274567187056,
        -0.02843531084567585
      ],
      "position_mm": [
        106.56856764172679,
        -189.61274567187056,
        -28.43531084567585
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 105,
      "position_m": [
        0.5240126439337357,
        -0.26688917006334223,
        -0.029383208250507276
      ],
      "position_mm": [
        524.0126439337357,
        -266.88917006334225,
        -29.383208250507277
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 114,
      "position_m": [
        0.2806489109528152,
        -0.23525132636219848,
        0.22074581777242416
      ],
      "position_mm": [
        280.6489109528152,
        -235.25132636219848,
        220.74581777242418
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 115,
      "position_m": [
        0.3097382625051054,
        -0.22754119054268646,
        0.18144410434104444
      ],
      "position_mm": [
        309.7382625051054,
        -227.54119054268645,
        181.44410434104444
      ],
      "link": "Arm2",
      "normal": [
        -0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 120,
      "position_m": [
        0.28044693355820816,
        -0.16919038565820624,
        0.243895845933166
      ],
      "position_mm": [
        280.4469335582082,
        -169.19038565820622,
        243.895845933166
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 205,
      "position_m": [
        0.7529775739982622,
        -0.09020527802374476,
        -0.0002881239350403778
      ],
      "position_mm": [
        752.9775739982622,
        -90.20527802374475,
        -0.2881239350403778
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6506777202237076,
        -0.009276767878381723,
        -0.0002456608863905282
      ],
      "position_mm": [
        650.6777202237076,
        -9.276767878381722,
        -0.24566088639052822
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35288248713228704,
        -0.09085698761036179,
        0.0020371233513321136
      ],
      "position_mm": [
        352.88248713228705,
        -90.85698761036178,
        2.0371233513321134
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34722490492578284,
        -0.011071403564960608,
        0.0005375986560997448
      ],
      "position_mm": [
        347.2249049257828,
        -11.071403564960608,
        0.5375986560997448
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6471181489731046,
        -0.08919722060091302,
        -0.00047012966838610163
      ],
      "position_mm": [
        647.1181489731046,
        -89.19722060091303,
        -0.47012966838610165
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.2537236192345459,
        -0.16905628522848073,
        0.2420297436737546
      ],
      "position_mm": [
        253.7236192345459,
        -169.05628522848073,
        242.0297436737546
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 219,
      "position_m": [
        0.25300964936014037,
        -0.26994606059101806,
        0.20983820339910386
      ],
      "position_mm": [
        253.00964936014037,
        -269.94606059101807,
        209.83820339910386
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 231,
      "position_m": [
        0.2687658821350168,
        -0.03708726044765366,
        0.2821871685552895
      ],
      "position_mm": [
        268.7658821350168,
        -37.08726044765366,
        282.18716855528953
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.18476190749890412,
        -0.03998727130866943,
        0.23724056197181886
      ],
      "position_mm": [
        184.76190749890412,
        -39.98727130866943,
        237.24056197181886
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 244,
      "position_m": [
        0.3099139279460838,
        -0.05719020560873386,
        0.25653371183661183
      ],
      "position_mm": [
        309.9139279460838,
        -57.19020560873386,
        256.5337118366118
      ],
      "link": "Ellbow",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 246,
      "position_m": [
        0.2677744712896623,
        -0.06385189189856309,
        0.281631332601525
      ],
      "position_mm": [
        267.7744712896623,
        -63.851891898563096,
        281.631332601525
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 247,
      "position_m": [
        0.23054497100730373,
        -0.06134774687611352,
        0.2853655613207779
      ],
      "position_mm": [
        230.54497100730373,
        -61.34774687611352,
        285.3655613207779
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    }
  ]
}