{
  "schema_version": "1.2",
  "stage": "initial_triangulation",
  "created_utc": "2026-06-02T22:59:50Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 25,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "b",
      "position_m": [
        0.30449238671529855,
        -0.8931909500442883,
        1.2021616686917198
      ],
      "position_mm": [
        304.49238671529855,
        -893.1909500442882,
        1202.1616686917198
      ],
      "direction": [
        0.005216329824179411,
        0.6232568621635437,
        -0.7819998264312744
      ]
    },
    {
      "camera_id": "c",
      "position_m": [
        0.31702206513417014,
        -0.9009856513305725,
        0.39446443494699257
      ],
      "position_mm": [
        317.02206513417013,
        -900.9856513305725,
        394.4644349469926
      ],
      "direction": [
        -0.12359802424907684,
        0.9488852620124817,
        -0.29041391611099243
      ]
    },
    {
      "camera_id": "f",
      "position_m": [
        0.48085701508868617,
        -0.3026928145345371,
        1.4042255506450263
      ],
      "position_mm": [
        480.8570150886862,
        -302.6928145345371,
        1404.2255506450263
      ],
      "direction": [
        -0.22449733316898346,
        0.08296965062618256,
        -0.970936119556427
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 41,
      "position_m": [
        0.28625071698053056,
        -0.08494089527971924,
        0.44491799542514565
      ],
      "position_mm": [
        286.25071698053057,
        -84.94089527971924,
        444.91799542514565
      ],
      "link": "FingerA",
      "normal": [
        0.0,
        -0.9375276894468237,
        0.34791066600565723
      ]
    },
    {
      "marker_id": 42,
      "position_m": [
        0.24838392962377034,
        -0.08034829770181458,
        0.469441123695567
      ],
      "position_mm": [
        248.38392962377034,
        -80.34829770181457,
        469.441123695567
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.2796555198378318,
        -0.05354036173117714,
        0.45448624492978035
      ],
      "position_mm": [
        279.65551983783183,
        -53.54036173117714,
        454.48624492978036
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.3439772956357515,
        -0.28865369532412677,
        -0.026355070909920047
      ],
      "position_mm": [
        343.97729563575155,
        -288.6536953241268,
        -26.355070909920048
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16840192155576322,
        -0.17337707337689057,
        -0.027335354000751037
      ],
      "position_mm": [
        168.4019215557632,
        -173.37707337689056,
        -27.33535400075104
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.4887824783410956,
        0.21552536368059808,
        -0.028846456410460464
      ],
      "position_mm": [
        488.7824783410956,
        215.52536368059808,
        -28.846456410460462
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.34018589684625344,
        -0.32780961644349565,
        -0.02696427193353096
      ],
      "position_mm": [
        340.18589684625346,
        -327.80961644349566,
        -26.96427193353096
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.047585194365194185,
        -0.21632314961273078,
        -0.027187528797273527
      ],
      "position_mm": [
        47.585194365194184,
        -216.3231496127308,
        -27.187528797273526
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4021217165979651,
        -0.1730647694725041,
        -0.02816154558242936
      ],
      "position_mm": [
        402.1217165979651,
        -173.0647694725041,
        -28.161545582429362
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.019056675868917336,
        -0.18963600323216634,
        -0.02629892817939908
      ],
      "position_mm": [
        -19.056675868917335,
        -189.63600323216633,
        -26.29892817939908
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005657772324808615,
        -0.27718729982834855,
        -0.0281552426561141
      ],
      "position_mm": [
        5.657772324808615,
        -277.18729982834856,
        -28.1552426561141
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 75,
      "position_m": [
        -0.0263660506698721,
        0.19124466355138656,
        -0.025667772677626623
      ],
      "position_mm": [
        -26.366050669872102,
        191.24466355138657,
        -25.667772677626623
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.31179117488803276,
        -0.15951234701714542,
        -0.027866865515992996
      ],
      "position_mm": [
        311.79117488803274,
        -159.51234701714543,
        -27.866865515992995
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18682279789915998,
        -0.2770854613432843,
        -0.027373531852831236
      ],
      "position_mm": [
        186.82279789915998,
        -277.08546134328435,
        -27.373531852831235
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.37228139768193613,
        -0.1844101964268814,
        -0.027747663088679396
      ],
      "position_mm": [
        372.28139768193614,
        -184.41019642688138,
        -27.747663088679396
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10501851217059505,
        -0.19067127626349675,
        -0.027229466069236444
      ],
      "position_mm": [
        105.01851217059505,
        -190.67127626349676,
        -27.229466069236445
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.30945336366013687,
        -0.1073591744064386,
        0.3268990976172743
      ],
      "position_mm": [
        309.45336366013686,
        -107.35917440643861,
        326.8990976172743
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3524515361877647,
        -0.08947391748672545,
        0.0008129981954070794
      ],
      "position_mm": [
        352.4515361877647,
        -89.47391748672545,
        0.8129981954070794
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.022494569778695465,
        -0.020944186821297416,
        0.001429535675896489
      ],
      "position_mm": [
        22.494569778695464,
        -20.944186821297414,
        1.429535675896489
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34753169466528255,
        -0.012186072913494543,
        0.0008043987153456231
      ],
      "position_mm": [
        347.53169466528254,
        -12.186072913494543,
        0.8043987153456231
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.25096546278076554,
        -0.08892455382197825,
        0.00026225521156614094
      ],
      "position_mm": [
        250.96546278076553,
        -88.92455382197825,
        0.26225521156614096
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.18709435481360254,
        -0.11543335401988593,
        0.18364649552247014
      ],
      "position_mm": [
        187.09435481360254,
        -115.43335401988593,
        183.64649552247013
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.19099082852998864,
        -0.16127414625352937,
        0.15512556769782754
      ],
      "position_mm": [
        190.99082852998865,
        -161.27414625352938,
        155.12556769782753
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.2802456179829176,
        -0.1622158462907791,
        0.1510019001603954
      ],
      "position_mm": [
        280.24561798291757,
        -162.2158462907791,
        151.00190016039542
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.24758262062777495,
        -0.15919164875458117,
        0.15027260398786907
      ],
      "position_mm": [
        247.58262062777496,
        -159.19164875458117,
        150.27260398786908
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}