{
  "schema_version": "1.2",
  "created_utc": "2026-06-02T22:56:07Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 12,
    "num_constraints": 94
  },
  "cameras": [
    {
      "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
      ]
    },
    {
      "camera_id": "d",
      "position_m": [
        0.6979996741933059,
        -0.7964402797652452,
        0.3976766679364876
      ],
      "position_mm": [
        697.9996741933059,
        -796.4402797652452,
        397.6766679364876
      ],
      "direction": [
        -0.5500041842460632,
        0.7863377332687378,
        -0.28136876225471497
      ]
    },
    {
      "camera_id": "g",
      "position_m": [
        -0.19511158023378877,
        0.21807120467829932,
        1.4054723322580496
      ],
      "position_mm": [
        -195.11158023378877,
        218.07120467829932,
        1405.4723322580496
      ],
      "direction": [
        0.29194176197052,
        -0.3066600561141968,
        -0.9059413075447083
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 42,
      "position_m": [
        0.375596099730229,
        -0.17936599098333716,
        0.12638611347082293
      ],
      "position_mm": [
        375.596099730229,
        -179.36599098333716,
        126.38611347082293
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.32984243187895457,
        -0.145525957569116,
        0.1360378399190006
      ],
      "position_mm": [
        329.8424318789546,
        -145.52595756911597,
        136.0378399190006
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.048985111919299,
        -0.21852767281440702,
        -0.026074997673769505
      ],
      "position_mm": [
        48.985111919299,
        -218.52767281440703,
        -26.074997673769506
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.02163614939332962,
        -0.18700617727214783,
        -0.028096961765773174
      ],
      "position_mm": [
        -21.63614939332962,
        -187.00617727214782,
        -28.096961765773173
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.440578386413442,
        0.19377105953011733,
        -0.027551746895875914
      ],
      "position_mm": [
        440.578386413442,
        193.77105953011733,
        -27.551746895875915
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10593277744382584,
        -0.19070560488597538,
        -0.02687151844448769
      ],
      "position_mm": [
        105.93277744382584,
        -190.7056048859754,
        -26.87151844448769
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 122,
      "position_m": [
        0.36330887085029373,
        -0.016927866283313518,
        0.27519665526368525
      ],
      "position_mm": [
        363.3088708502937,
        -16.927866283313517,
        275.1966552636853
      ],
      "link": "Arm2",
      "normal": [
        -1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3517320626848221,
        -0.09036251928052168,
        0.0006846739405466545
      ],
      "position_mm": [
        351.7320626848221,
        -90.36251928052168,
        0.6846739405466544
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.019955356065729835,
        -0.018837974968773152,
        -0.0006031123259841284
      ],
      "position_mm": [
        19.955356065729834,
        -18.837974968773153,
        -0.6031123259841285
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 211,
      "position_m": [
        0.252052880728571,
        -0.00805837702050402,
        -0.0003405856435084801
      ],
      "position_mm": [
        252.052880728571,
        -8.05837702050402,
        -0.3405856435084801
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34747473709085114,
        -0.010478528542360251,
        3.5442210046583504e-05
      ],
      "position_mm": [
        347.47473709085114,
        -10.478528542360252,
        0.0354422100465835
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.24938483868856107,
        -0.08801387227761061,
        -0.00035725079098712816
      ],
      "position_mm": [
        249.38483868856108,
        -88.0138722776106,
        -0.35725079098712814
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    }
  ]
}