{ "schema_version": "1.2", "created_utc": "2026-06-02T22:55:35Z", "summary": { "num_cameras": 6, "num_markers": 43, "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": "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": "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": 42, "position_m": [ 0.2924005486950217, -0.3617055986076081, 0.18931228311844556 ], "position_mm": [ 292.4005486950217, -361.70559860760807, 189.31228311844555 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 44, "position_m": [ 0.3202632959034077, -0.28977443684823434, 0.18682918113141522 ], "position_mm": [ 320.2632959034077, -289.77443684823436, 186.82918113141523 ], "link": "FingerB", "normal": [ 0.0, -0.9375276894468237, -0.34791066600565723 ] }, { "marker_id": 48, "position_m": [ 0.6881661452790762, -0.31941411317704343, -0.026815107119220544 ], "position_mm": [ 688.1661452790762, -319.4141131770434, -26.815107119220546 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 50, "position_m": [ 0.5710545002012826, 0.21025313973785953, -0.026524327216413613 ], "position_mm": [ 571.0545002012826, 210.25313973785953, -26.524327216413614 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.16778855342349328, -0.17361891466644674, -0.027322603139815653 ], "position_mm": [ 167.78855342349328, -173.61891466644676, -27.32260313981565 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.3403385835632649, -0.326990716383214, -0.028422201153135866 ], "position_mm": [ 340.33858356326493, -326.99071638321396, -28.422201153135866 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.28436393830132467, -0.2605977707326436, -0.027565845715021152 ], "position_mm": [ 284.36393830132465, -260.5977707326436, -27.56584571502115 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 57, "position_m": [ 0.6026542690012854, -0.36317018018606256, -0.028206398503899253 ], "position_mm": [ 602.6542690012853, -363.17018018606257, -28.20639850389925 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.04917900880312046, -0.2175894017654256, -0.02644971110541 ], "position_mm": [ 49.17900880312046, -217.5894017654256, -26.44971110541 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.6254946509140663, -0.2777355591894171, -0.027453257156067883 ], "position_mm": [ 625.4946509140663, -277.73555918941713, -27.45325715606788 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 61, "position_m": [ -0.021989663714466052, 0.33444947556934723, -0.026794025555345945 ], "position_mm": [ -21.98966371446605, 334.4494755693472, -26.794025555345947 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.40415567092300597, -0.1751334550071506, -0.026442842638032538 ], "position_mm": [ 404.15567092300597, -175.13345500715062, -26.442842638032538 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 63, "position_m": [ 0.7754394919670669, -0.23632430635873605, -0.02771259162416515 ], "position_mm": [ 775.4394919670668, -236.32430635873607, -27.71259162416515 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.0217200248203424, -0.18672548623288648, -0.02885572165069476 ], "position_mm": [ -21.7200248203424, -186.72548623288648, -28.855721650694758 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.005135345016658975, -0.2796019536610172, -0.027304702347631153 ], "position_mm": [ 5.135345016658975, -279.6019536610172, -27.304702347631153 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 71, "position_m": [ 0.7510396280800309, -0.2859060308474366, -0.026528943274725852 ], "position_mm": [ 751.0396280800309, -285.9060308474366, -26.52894327472585 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.3127344770551838, -0.15771797863177, -0.028684535989454047 ], "position_mm": [ 312.7344770551838, -157.71797863177, -28.684535989454048 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5062196236762176, -0.31412333782858, -0.027096110164178136 ], "position_mm": [ 506.2196236762176, -314.12333782857996, -27.096110164178135 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 86, "position_m": [ 0.3618571572033992, 0.2948975779874204, -0.02679968572237528 ], "position_mm": [ 361.85715720339925, 294.8975779874204, -26.79968572237528 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.6465470051535439, -0.18503687074321123, -0.02707144228997698 ], "position_mm": [ 646.5470051535439, -185.03687074321124, -27.071442289976982 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 94, "position_m": [ 0.8724003948516086, 0.17376974127195996, -0.0262493060939839 ], "position_mm": [ 872.4003948516086, 173.76974127195996, -26.2493060939839 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.18658035660909061, -0.2755075528080415, -0.02780984913229958 ], "position_mm": [ 186.58035660909061, -275.5075528080415, -27.80984913229958 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.3693085562085409, -0.1867489688724345, -0.02567658118768863 ], "position_mm": [ 369.3085562085409, -186.7489688724345, -25.67658118768863 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6515425248387848, -0.22313949569361002, -0.027832879037816897 ], "position_mm": [ 651.5425248387849, -223.13949569361003, -27.832879037816898 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10560583673994692, -0.1888077484802362, -0.028764522890785627 ], "position_mm": [ 105.60583673994692, -188.8077484802362, -28.764522890785628 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 105, "position_m": [ 0.5239753101229497, -0.26666055236538205, -0.029272701174956197 ], "position_mm": [ 523.9753101229497, -266.66055236538205, -29.272701174956197 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 114, "position_m": [ 0.2812221654058413, -0.23491906060324413, 0.22084013087279256 ], "position_mm": [ 281.2221654058413, -234.91906060324413, 220.84013087279254 ], "link": "Arm2", "normal": [ 0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 115, "position_m": [ 0.3098541748189571, -0.2273993364372026, 0.18116745698264095 ], "position_mm": [ 309.8541748189571, -227.39933643720258, 181.16745698264094 ], "link": "Arm2", "normal": [ -0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 120, "position_m": [ 0.2810909446726978, -0.1689434269375756, 0.2442328055953387 ], "position_mm": [ 281.0909446726978, -168.9434269375756, 244.2328055953387 ], "link": "Arm2", "normal": [ 0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 205, "position_m": [ 0.7530843813391916, -0.09037924712146399, -0.00027622642643386854 ], "position_mm": [ 753.0843813391916, -90.37924712146399, -0.2762264264338685 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 206, "position_m": [ 0.6506983802719253, -0.009888999148404087, -1.0254840725420575e-05 ], "position_mm": [ 650.6983802719253, -9.888999148404087, -0.010254840725420574 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.3525090152829613, -0.09077553013076659, 0.0012477763878291181 ], "position_mm": [ 352.5090152829613, -90.77553013076658, 1.2477763878291181 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.021805259124761618, -0.019373844519294418, 0.0005599744049825366 ], "position_mm": [ 21.80525912476162, -19.37384451929442, 0.5599744049825366 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 211, "position_m": [ 0.25227999605682266, -0.008822918339720516, -1.5364769786266618e-05 ], "position_mm": [ 252.27999605682265, -8.822918339720516, -0.015364769786266618 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.34702734192627405, -0.010965886851697058, 0.0006389887559244052 ], "position_mm": [ 347.02734192627406, -10.965886851697057, 0.6389887559244052 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 215, "position_m": [ 0.2507970595045332, -0.08880886286936866, 0.00020375136600064378 ], "position_mm": [ 250.7970595045332, -88.80886286936867, 0.20375136600064378 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 217, "position_m": [ 0.6469979512366781, -0.08980236903510377, -0.00041271621927458426 ], "position_mm": [ 646.9979512366781, -89.80236903510378, -0.41271621927458424 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 218, "position_m": [ 0.2545807969767373, -0.16717339426594108, 0.2408084323316336 ], "position_mm": [ 254.5807969767373, -167.17339426594108, 240.8084323316336 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 219, "position_m": [ 0.2553275819877474, -0.2690920275917843, 0.20508222802841566 ], "position_mm": [ 255.3275819877474, -269.0920275917843, 205.08222802841567 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 243, "position_m": [ 0.1867368482663837, -0.034162461578735905, 0.25170179953553395 ], "position_mm": [ 186.7368482663837, -34.16246157873591, 251.70179953553395 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 244, "position_m": [ 0.31003664265180114, -0.05694330340045524, 0.2563897038563088 ], "position_mm": [ 310.0366426518011, -56.94330340045524, 256.3897038563088 ], "link": "Ellbow", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 246, "position_m": [ 0.270262516720558, -0.06596763250379512, 0.2844357531402654 ], "position_mm": [ 270.262516720558, -65.96763250379512, 284.43575314026543 ], "link": "Ellbow", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 247, "position_m": [ 0.23310968003227983, -0.061133618347466674, 0.28603508715288856 ], "position_mm": [ 233.10968003227984, -61.13361834746667, 286.03508715288854 ], "link": "Ellbow", "normal": [ 0.0, 0.0, 1.0 ] } ] }