{
  "schema_version": "1.2",
  "created_utc": "2026-06-02T23:00:37Z",
  "summary": {
    "num_cameras": 4,
    "num_markers": 30,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "a",
      "position_m": [
        -0.29955195892720843,
        -0.7973261061142631,
        0.8018813702295133
      ],
      "position_mm": [
        -299.55195892720843,
        -797.3261061142631,
        801.8813702295133
      ],
      "direction": [
        0.47862082719802856,
        0.6562461256980896,
        -0.5833207368850708
      ]
    },
    {
      "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": "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": [
        0.3442727275313084,
        -0.28563265210995914,
        -0.028903460500455336
      ],
      "position_mm": [
        344.27272753130836,
        -285.63265210995917,
        -28.903460500455335
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16757455532623117,
        -0.173715682225372,
        -0.027191532898232524
      ],
      "position_mm": [
        167.57455532623118,
        -173.715682225372,
        -27.191532898232524
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3403562369848522,
        -0.32946868348008074,
        -0.026203257800513795
      ],
      "position_mm": [
        340.35623698485216,
        -329.46868348008076,
        -26.203257800513796
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2841596411500174,
        -0.2607513830814064,
        -0.027206909570481972
      ],
      "position_mm": [
        284.1596411500174,
        -260.7513830814064,
        -27.206909570481972
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.049406408188943735,
        -0.2189875675613123,
        -0.02526880121718062
      ],
      "position_mm": [
        49.406408188943736,
        -218.9875675613123,
        -25.26880121718062
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4036684237633855,
        -0.17119333082774163,
        -0.029012076369305268
      ],
      "position_mm": [
        403.66842376338553,
        -171.19333082774162,
        -29.01207636930527
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.021061821906356772,
        -0.18717435271127986,
        -0.02795299876827372
      ],
      "position_mm": [
        -21.061821906356773,
        -187.17435271127985,
        -27.95299876827372
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 66,
      "position_m": [
        0.2096512466476601,
        -0.3648732103214637,
        -0.02710726643464247
      ],
      "position_mm": [
        209.65124664766012,
        -364.8732103214637,
        -27.10726643464247
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44159074047447694,
        0.19419515195952314,
        -0.028107687787151468
      ],
      "position_mm": [
        441.59074047447695,
        194.19515195952314,
        -28.10768778715147
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 75,
      "position_m": [
        -0.0273339060041464,
        0.1920370128311326,
        -0.02675940930780586
      ],
      "position_mm": [
        -27.3339060041464,
        192.03701283113259,
        -26.759409307805857
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.312475997325041,
        -0.15846916383835796,
        -0.02827308517958183
      ],
      "position_mm": [
        312.475997325041,
        -158.46916383835796,
        -28.273085179581827
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 83,
      "position_m": [
        0.045642909475167026,
        0.3406062865859235,
        -0.02700234437730622
      ],
      "position_mm": [
        45.64290947516702,
        340.6062865859235,
        -27.00234437730622
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5061328289201659,
        -0.3136905415464629,
        -0.02725379883457556
      ],
      "position_mm": [
        506.1328289201659,
        -313.6905415464629,
        -27.253798834575562
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.646417687471175,
        -0.18608520451707886,
        -0.027687784063995052
      ],
      "position_mm": [
        646.417687471175,
        -186.08520451707886,
        -27.687784063995053
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18635800560202806,
        -0.2756056060332531,
        -0.027725209164430754
      ],
      "position_mm": [
        186.35800560202807,
        -275.60560603325314,
        -27.725209164430755
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3700023024822364,
        -0.18566359914440458,
        -0.02636081644634863
      ],
      "position_mm": [
        370.0023024822364,
        -185.66359914440457,
        -26.36081644634863
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 97,
      "position_m": [
        0.3041527057937211,
        -0.360547257743644,
        -0.023559075419031232
      ],
      "position_mm": [
        304.1527057937211,
        -360.54725774364397,
        -23.55907541903123
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6515413251589869,
        -0.22417537140664942,
        -0.027205972809535305
      ],
      "position_mm": [
        651.5413251589869,
        -224.17537140664942,
        -27.205972809535304
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10559610868225444,
        -0.18976872219919627,
        -0.027861277082782434
      ],
      "position_mm": [
        105.59610868225444,
        -189.76872219919628,
        -27.861277082782433
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.3111717470835545,
        -0.11409235775604246,
        0.328561608468459
      ],
      "position_mm": [
        311.1717470835545,
        -114.09235775604246,
        328.561608468459
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6509575595206526,
        -0.009085584876525558,
        4.360342375435185e-05
      ],
      "position_mm": [
        650.9575595206526,
        -9.085584876525557,
        0.04360342375435185
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3513302980916535,
        -0.09061651350544654,
        0.0008062828643018231
      ],
      "position_mm": [
        351.3302980916535,
        -90.61651350544655,
        0.806282864301823
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.0218903321724089,
        -0.019452734492593923,
        0.00016943569060737788
      ],
      "position_mm": [
        21.8903321724089,
        -19.452734492593923,
        0.16943569060737787
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34780762313578883,
        -0.01069660212428115,
        0.00017541422263981783
      ],
      "position_mm": [
        347.80762313578884,
        -10.696602124281151,
        0.17541422263981785
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.25108062372292156,
        -0.08884948898629769,
        6.336859728067167e-05
      ],
      "position_mm": [
        251.08062372292156,
        -88.84948898629769,
        0.06336859728067167
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.2678310039923197,
        -0.13327168140741535,
        0.26178563837390184
      ],
      "position_mm": [
        267.83100399231967,
        -133.27168140741534,
        261.78563837390186
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.18482636173011663,
        -0.11648296439309173,
        0.17930891934523666
      ],
      "position_mm": [
        184.82636173011662,
        -116.48296439309173,
        179.30891934523666
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.19231964832278434,
        -0.15836821060990805,
        0.15402079313338124
      ],
      "position_mm": [
        192.31964832278433,
        -158.36821060990806,
        154.02079313338123
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.2838164691146354,
        -0.16129107030095038,
        0.15035032323768746
      ],
      "position_mm": [
        283.81646911463537,
        -161.2910703009504,
        150.35032323768746
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.24640300163438222,
        -0.15875076204247807,
        0.15038878642956544
      ],
      "position_mm": [
        246.40300163438224,
        -158.75076204247807,
        150.38878642956544
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}