{
  "schema_version": "1.2",
  "created_utc": "2026-06-02T22:59:44Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 18,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "d",
      "position_m": [
        0.7054014679839464,
        -0.7919478105063438,
        0.3967113315257853
      ],
      "position_mm": [
        705.4014679839464,
        -791.9478105063438,
        396.7113315257853
      ],
      "direction": [
        -0.5578631162643433,
        0.781220555305481,
        -0.28014856576919556
      ]
    },
    {
      "camera_id": "e",
      "position_m": [
        1.2003205157992303,
        -0.9051194632262202,
        0.40226793640946296
      ],
      "position_mm": [
        1200.3205157992302,
        -905.1194632262202,
        402.26793640946295
      ],
      "direction": [
        -0.7470906376838684,
        0.6093959212303162,
        -0.26550355553627014
      ]
    },
    {
      "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": 47,
      "position_m": [
        0.34359601387430433,
        -0.286309850798829,
        -0.02793953041360795
      ],
      "position_mm": [
        343.59601387430433,
        -286.30985079882896,
        -27.93953041360795
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3409016491431358,
        -0.33028217601534215,
        -0.02609228906348084
      ],
      "position_mm": [
        340.9016491431358,
        -330.28217601534215,
        -26.09228906348084
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2838178971182314,
        -0.2605799042447583,
        -0.027646000037233037
      ],
      "position_mm": [
        283.81789711823143,
        -260.5799042447583,
        -27.646000037233037
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.04824832661160189,
        -0.21590639662317518,
        -0.02728948940045722
      ],
      "position_mm": [
        48.24832661160189,
        -215.90639662317517,
        -27.28948940045722
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4021207572821709,
        -0.17290838609820858,
        -0.02726539339329132
      ],
      "position_mm": [
        402.12075728217087,
        -172.90838609820858,
        -27.26539339329132
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.023242299347959676,
        -0.1864444250927616,
        -0.029767264536340793
      ],
      "position_mm": [
        -23.242299347959676,
        -186.4444250927616,
        -29.767264536340793
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 66,
      "position_m": [
        0.21058970246366268,
        -0.36463518560879576,
        -0.02666442829476904
      ],
      "position_mm": [
        210.5897024636627,
        -364.6351856087958,
        -26.66442829476904
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.004735214821980119,
        -0.2782935279927896,
        -0.028061996390246178
      ],
      "position_mm": [
        4.73521482198012,
        -278.2935279927896,
        -28.06199639024618
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.31181704472236754,
        -0.15806356629278331,
        -0.026940502528458813
      ],
      "position_mm": [
        311.81704472236754,
        -158.06356629278332,
        -26.94050252845881
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18658812742786213,
        -0.2755610100550278,
        -0.02783947821877802
      ],
      "position_mm": [
        186.58812742786213,
        -275.5610100550278,
        -27.83947821877802
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10683762002430967,
        -0.19174342582882453,
        -0.026202408235220572
      ],
      "position_mm": [
        106.83762002430967,
        -191.74342582882454,
        -26.202408235220574
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.30831920948258307,
        -0.11174593752341672,
        0.3273201668092055
      ],
      "position_mm": [
        308.31920948258306,
        -111.74593752341671,
        327.3201668092055
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35250946574147934,
        -0.09097394205121843,
        0.0013855176823020857
      ],
      "position_mm": [
        352.50946574147935,
        -90.97394205121843,
        1.3855176823020856
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.347835589460359,
        -0.011114388561205236,
        0.0006069733165792333
      ],
      "position_mm": [
        347.83558946035896,
        -11.114388561205237,
        0.6069733165792334
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.19023091057423325,
        -0.15972686359677177,
        0.1538923557847114
      ],
      "position_mm": [
        190.23091057423323,
        -159.72686359677178,
        153.89235578471138
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 244,
      "position_m": [
        0.31809930440542245,
        -0.12932291625568124,
        0.1436716645337163
      ],
      "position_mm": [
        318.09930440542246,
        -129.32291625568124,
        143.6716645337163
      ],
      "link": "Ellbow",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.28042840510433187,
        -0.16068503993713754,
        0.150550888705387
      ],
      "position_mm": [
        280.4284051043319,
        -160.68503993713753,
        150.550888705387
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.2431055956271612,
        -0.1571032154694177,
        0.1498972134826547
      ],
      "position_mm": [
        243.1055956271612,
        -157.10321546941768,
        149.8972134826547
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}