{ "schema_version": "1.2", "created_utc": "2026-06-02T22:56:22Z", "summary": { "num_cameras": 3, "num_markers": 8, "num_constraints": 94 }, "cameras": [ { "camera_id": "a", "position_m": [ -0.29985778072375346, -0.9015086886763308, 0.7085895420934379 ], "position_mm": [ -299.8577807237535, -901.5086886763308, 708.5895420934379 ], "direction": [ 0.46960189938545227, 0.7278991937637329, -0.499636709690094 ] }, { "camera_id": "b", "position_m": [ 0.3134536976647028, -0.8923579484022319, 1.20507845611891 ], "position_mm": [ 313.4536976647028, -892.357948402232, 1205.07845611891 ], "direction": [ -0.0005159506108611822, 0.6220897436141968, -0.7829457521438599 ] }, { "camera_id": "c", "position_m": [ 0.28752597698377347, -0.9090323131522682, 0.39592483186863714 ], "position_mm": [ 287.5259769837735, -909.0323131522682, 395.9248318686371 ], "direction": [ -0.09462770819664001, 0.9521815180778503, -0.29050973057746887 ] } ], "markers": [ { "marker_id": 42, "position_m": [ 0.37508435057162637, -0.1892230619949678, 0.12926208905684378 ], "position_mm": [ 375.0843505716264, -189.2230619949678, 129.26208905684376 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 43, "position_m": [ 0.32977292280145626, -0.15833608432154828, 0.1391219885153321 ], "position_mm": [ 329.7729228014563, -158.33608432154827, 139.1219885153321 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 62, "position_m": [ 0.40266579649644807, -0.17359456190865927, -0.027258238167711897 ], "position_mm": [ 402.6657964964481, -173.59456190865927, -27.258238167711898 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 122, "position_m": [ 0.36400072380842596, -0.01780683611740052, 0.2771468849761387 ], "position_mm": [ 364.00072380842596, -17.80683611740052, 277.1468849761387 ], "link": "Arm2", "normal": [ -1.0, 0.0, 0.0 ] }, { "marker_id": 124, "position_m": [ 0.36374731504131136, -0.11703926127154486, 0.21634279987553892 ], "position_mm": [ 363.74731504131137, -117.03926127154486, 216.34279987553893 ], "link": "Arm2", "normal": [ -1.0, 0.0, 0.0 ] }, { "marker_id": 210, "position_m": [ 0.020549535520055725, -0.020119741758463722, 0.00024357679129174292 ], "position_mm": [ 20.549535520055723, -20.11974175846372, 0.24357679129174292 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 211, "position_m": [ 0.25201901072732746, -0.008784311330488008, -0.00018975874059174306 ], "position_mm": [ 252.01901072732747, -8.784311330488007, -0.18975874059174305 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 215, "position_m": [ 0.24930433069482408, -0.08873819469897419, -0.00027033569666854096 ], "position_mm": [ 249.30433069482407, -88.73819469897418, -0.27033569666854096 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] } ] }