{
  "schema_version": "1.2",
  "created_utc": "2026-06-02T22:56:29Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 20,
    "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": "f",
      "position_m": [
        0.4760185441234359,
        -0.29875310533250987,
        1.4075692591478004
      ],
      "position_mm": [
        476.0185441234359,
        -298.75310533250985,
        1407.5692591478005
      ],
      "direction": [
        -0.2208399474620819,
        0.08048706501722336,
        -0.9719833135604858
      ]
    },
    {
      "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": [
        0.37528910825837314,
        -0.18192220984456628,
        0.12725638410481246
      ],
      "position_mm": [
        375.2891082583731,
        -181.92220984456628,
        127.25638410481247
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.32962824595301116,
        -0.14867754636808347,
        0.1372440203959271
      ],
      "position_mm": [
        329.6282459530112,
        -148.67754636808348,
        137.2440203959271
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 46,
      "position_m": [
        0.5367184067487293,
        0.18423486269899758,
        -0.032395568278504434
      ],
      "position_mm": [
        536.7184067487293,
        184.23486269899757,
        -32.395568278504435
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16796250057348008,
        -0.17329351596621978,
        -0.0268949450013049
      ],
      "position_mm": [
        167.96250057348007,
        -173.2935159662198,
        -26.8949450013049
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.48803967475533533,
        0.21192215206929907,
        -0.024275658218840018
      ],
      "position_mm": [
        488.03967475533534,
        211.92215206929907,
        -24.275658218840018
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3400761839339627,
        -0.3280060717805165,
        -0.02686155063649933
      ],
      "position_mm": [
        340.07618393396274,
        -328.0060717805165,
        -26.86155063649933
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.49896729016441416,
        0.1679927303085927,
        -0.02618599505667668
      ],
      "position_mm": [
        498.9672901644142,
        167.9927303085927,
        -26.18599505667668
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.04949072593539486,
        -0.21661720991375544,
        -0.018935907736279158
      ],
      "position_mm": [
        49.490725935394856,
        -216.61720991375543,
        -18.93590773627916
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.021318818136362282,
        -0.18840141518337156,
        -0.0321620905135069
      ],
      "position_mm": [
        -21.31881813636228,
        -188.40141518337157,
        -32.162090513506904
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 66,
      "position_m": [
        0.21002120707685593,
        -0.3637867998537524,
        -0.025247326091452447
      ],
      "position_mm": [
        210.02120707685592,
        -363.78679985375237,
        -25.247326091452447
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005608749956594472,
        -0.27815407736932773,
        -0.027523362415904102
      ],
      "position_mm": [
        5.608749956594472,
        -278.15407736932775,
        -27.523362415904103
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44276864008518596,
        0.19480762654173406,
        -0.029493185733961095
      ],
      "position_mm": [
        442.76864008518595,
        194.80762654173407,
        -29.493185733961095
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10625603278506171,
        -0.19025104412008165,
        -0.02894917702104569
      ],
      "position_mm": [
        106.2560327850617,
        -190.25104412008164,
        -28.94917702104569
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 122,
      "position_m": [
        0.36215064827032944,
        -0.01879834562753154,
        0.27748644251061066
      ],
      "position_mm": [
        362.15064827032944,
        -18.798345627531543,
        277.4864425106107
      ],
      "link": "Arm2",
      "normal": [
        -1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 124,
      "position_m": [
        0.363408529888011,
        -0.10780966313478871,
        0.2161054524444359
      ],
      "position_mm": [
        363.408529888011,
        -107.8096631347887,
        216.1054524444359
      ],
      "link": "Arm2",
      "normal": [
        -1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.020694509931126467,
        -0.021284532229034907,
        0.0005966803301194439
      ],
      "position_mm": [
        20.69450993112647,
        -21.28453222903491,
        0.5966803301194439
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.24941539923617387,
        -0.08841697525124119,
        -0.0003551427236650494
      ],
      "position_mm": [
        249.41539923617387,
        -88.41697525124118,
        -0.3551427236650494
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 231,
      "position_m": [
        0.37655871036590566,
        0.10272408503817429,
        0.34928537986403063
      ],
      "position_mm": [
        376.55871036590565,
        102.7240850381743,
        349.28537986403063
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.2868410697900211,
        0.08631747872030218,
        0.35041315678462237
      ],
      "position_mm": [
        286.8410697900211,
        86.31747872030218,
        350.41315678462234
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 247,
      "position_m": [
        0.33779917980857216,
        0.074756850333302,
        0.34584788418667345
      ],
      "position_mm": [
        337.79917980857215,
        74.756850333302,
        345.84788418667347
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    }
  ]
}