{
  "schema_version": "1.2",
  "created_utc": "2026-06-02T23:02:37Z",
  "summary": {
    "num_cameras": 5,
    "num_markers": 39,
    "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": "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": "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": "g",
      "position_m": [
        -0.20541655013425003,
        0.20379753805366085,
        1.3985639899421838
      ],
      "position_mm": [
        -205.41655013425003,
        203.79753805366084,
        1398.5639899421838
      ],
      "direction": [
        0.2998085618019104,
        -0.2990388870239258,
        -0.9059197306632996
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 47,
      "position_m": [
        0.34584290118768035,
        -0.28519457594683195,
        -0.03173294946851746
      ],
      "position_mm": [
        345.84290118768035,
        -285.19457594683195,
        -31.732949468517457
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.1680090960409281,
        -0.17371282767086177,
        -0.027200820094572142
      ],
      "position_mm": [
        168.00909604092809,
        -173.71282767086177,
        -27.200820094572144
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.48650192454450836,
        0.2126915345191824,
        -0.025532921787342087
      ],
      "position_mm": [
        486.50192454450837,
        212.6915345191824,
        -25.532921787342087
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.33921959635918114,
        -0.328393904230456,
        -0.02588564034134445
      ],
      "position_mm": [
        339.21959635918114,
        -328.393904230456,
        -25.885640341344452
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.048933467214366665,
        -0.21734979769100682,
        -0.026387067390401815
      ],
      "position_mm": [
        48.933467214366665,
        -217.3497976910068,
        -26.387067390401814
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.404343954946786,
        -0.17110875604734604,
        -0.029818637049550855
      ],
      "position_mm": [
        404.34395494678597,
        -171.10875604734605,
        -29.818637049550855
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.0219762113763959,
        -0.18649476061972942,
        -0.028583893616790576
      ],
      "position_mm": [
        -21.9762113763959,
        -186.49476061972942,
        -28.583893616790576
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.00546923032406101,
        -0.27977154995430836,
        -0.027101724088207074
      ],
      "position_mm": [
        5.4692303240610105,
        -279.77154995430834,
        -27.101724088207074
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 71,
      "position_m": [
        0.7510008492320667,
        -0.2854348032096035,
        -0.026794437833258713
      ],
      "position_mm": [
        751.0008492320667,
        -285.4348032096035,
        -26.794437833258712
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44185933616236045,
        0.1934663445571081,
        -0.028183838582130933
      ],
      "position_mm": [
        441.8593361623605,
        193.4663445571081,
        -28.18383858213093
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 75,
      "position_m": [
        -0.027092735412475998,
        0.19371640467601478,
        -0.028041890538717213
      ],
      "position_mm": [
        -27.092735412475996,
        193.71640467601478,
        -28.04189053871721
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 76,
      "position_m": [
        0.6850410896417743,
        0.16671705322740038,
        -0.025437952817579497
      ],
      "position_mm": [
        685.0410896417743,
        166.71705322740038,
        -25.437952817579497
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3124906351526419,
        -0.15878149244713555,
        -0.027342392618359693
      ],
      "position_mm": [
        312.4906351526419,
        -158.78149244713555,
        -27.342392618359693
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5064540505930395,
        -0.31384207280827797,
        -0.027085930507866694
      ],
      "position_mm": [
        506.4540505930395,
        -313.842072808278,
        -27.085930507866696
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.36115549142606207,
        0.2935593983316756,
        -0.0260898940246522
      ],
      "position_mm": [
        361.15549142606204,
        293.5593983316756,
        -26.0898940246522
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6476974198908052,
        -0.18507093645438316,
        -0.028722126793852196
      ],
      "position_mm": [
        647.6974198908052,
        -185.07093645438317,
        -28.722126793852198
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 94,
      "position_m": [
        0.8729828258820252,
        0.17487150020703476,
        -0.02745946858411892
      ],
      "position_mm": [
        872.9828258820253,
        174.87150020703476,
        -27.45946858411892
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18691442957993246,
        -0.27557697675681003,
        -0.028172880871535726
      ],
      "position_mm": [
        186.91442957993246,
        -275.57697675681004,
        -28.172880871535725
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3704798356723369,
        -0.18503890546883128,
        -0.026818005128986473
      ],
      "position_mm": [
        370.4798356723369,
        -185.03890546883127,
        -26.818005128986474
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6515889137628411,
        -0.22330546607995932,
        -0.02815320265280192
      ],
      "position_mm": [
        651.5889137628411,
        -223.30546607995933,
        -28.15320265280192
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10607817917702364,
        -0.1899545247041449,
        -0.02769026446911726
      ],
      "position_mm": [
        106.07817917702364,
        -189.9545247041449,
        -27.690264469117263
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 105,
      "position_m": [
        0.521896858082879,
        -0.2655689139721505,
        -0.029070399603431645
      ],
      "position_mm": [
        521.896858082879,
        -265.5689139721505,
        -29.070399603431646
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.30923641158837845,
        -0.11174321874147355,
        0.32696247051505034
      ],
      "position_mm": [
        309.2364115883785,
        -111.74321874147356,
        326.9624705150503
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.19093164785540362,
        -0.03031068800304363,
        0.1496859366497456
      ],
      "position_mm": [
        190.9316478554036,
        -30.31068800304363,
        149.6859366497456
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6508084767520808,
        -0.010591429331161216,
        4.883427999971313e-05
      ],
      "position_mm": [
        650.8084767520808,
        -10.591429331161216,
        0.04883427999971313
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 207,
      "position_m": [
        0.7507488719611728,
        -0.013411445505543827,
        0.0020407347077060862
      ],
      "position_mm": [
        750.7488719611728,
        -13.411445505543826,
        2.0407347077060862
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3523236606299638,
        -0.09137957976025231,
        0.0014598701241405583
      ],
      "position_mm": [
        352.3236606299638,
        -91.37957976025231,
        1.4598701241405583
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.022153264795324226,
        -0.019063383670956575,
        -0.0005548162223931575
      ],
      "position_mm": [
        22.153264795324226,
        -19.063383670956576,
        -0.5548162223931574
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 211,
      "position_m": [
        0.25225937855495023,
        -0.00895658596280796,
        0.00030865739049914647
      ],
      "position_mm": [
        252.25937855495022,
        -8.95658596280796,
        0.3086573904991465
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.3475773093353922,
        -0.011524445764017862,
        0.0006667274480777653
      ],
      "position_mm": [
        347.5773093353922,
        -11.524445764017862,
        0.6667274480777653
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.25096750870966034,
        -0.08894603859194308,
        0.0001741311680481204
      ],
      "position_mm": [
        250.96750870966034,
        -88.94603859194308,
        0.1741311680481204
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6465118361566717,
        -0.09047596476619321,
        0.00010299359234970537
      ],
      "position_mm": [
        646.5118361566717,
        -90.47596476619321,
        0.10299359234970537
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.2668911873123321,
        -0.13622368239733665,
        0.2625476482921716
      ],
      "position_mm": [
        266.8911873123321,
        -136.22368239733666,
        262.5476482921716
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 219,
      "position_m": [
        0.2618106158914279,
        -0.11519011144764031,
        0.3688455384567292
      ],
      "position_mm": [
        261.8106158914279,
        -115.1901114476403,
        368.8455384567292
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.18707448960936035,
        -0.115617969089253,
        0.17810763266254492
      ],
      "position_mm": [
        187.07448960936034,
        -115.617969089253,
        178.10763266254492
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 232,
      "position_m": [
        0.28067423419716586,
        -0.15625814892303766,
        0.12545951026155772
      ],
      "position_mm": [
        280.67423419716584,
        -156.25814892303765,
        125.45951026155771
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.1921221152122297,
        -0.15840843001626367,
        0.15374551223711846
      ],
      "position_mm": [
        192.1221152122297,
        -158.40843001626368,
        153.74551223711848
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.2835307176386122,
        -0.16295740848683882,
        0.15123900595466608
      ],
      "position_mm": [
        283.5307176386122,
        -162.95740848683883,
        151.23900595466608
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.24622560137855187,
        -0.15923498044415466,
        0.15040481779757603
      ],
      "position_mm": [
        246.2256013785519,
        -159.23498044415464,
        150.40481779757602
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}