{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:14:11Z",
  "summary": {
    "num_cameras": 5,
    "num_markers": 35,
    "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": "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": [
        0.3442813261953136,
        -0.285618791460308,
        -0.028906029560194016
      ],
      "position_mm": [
        344.2813261953136,
        -285.618791460308,
        -28.906029560194018
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.1677845000603617,
        -0.17356794948046322,
        -0.027292740177986913
      ],
      "position_mm": [
        167.7845000603617,
        -173.56794948046323,
        -27.292740177986914
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.34034514241030067,
        -0.32945327201482677,
        -0.026209259787478373
      ],
      "position_mm": [
        340.3451424103007,
        -329.4532720148268,
        -26.209259787478373
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2841622285302089,
        -0.2607522106492874,
        -0.02720712846950765
      ],
      "position_mm": [
        284.1622285302089,
        -260.7522106492874,
        -27.207128469507648
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.04839555744256962,
        -0.21668767476304623,
        -0.02688041316999095
      ],
      "position_mm": [
        48.39555744256962,
        -216.68767476304623,
        -26.880413169990952
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40364373969363054,
        -0.1712292924586522,
        -0.028988134256641318
      ],
      "position_mm": [
        403.64373969363055,
        -171.2292924586522,
        -28.988134256641317
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.02256360432975926,
        -0.18594776066320728,
        -0.029094908089211054
      ],
      "position_mm": [
        -22.563604329759258,
        -185.94776066320728,
        -29.094908089211053
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 66,
      "position_m": [
        0.20963838941174678,
        -0.3647847753481774,
        -0.027121358137783765
      ],
      "position_mm": [
        209.63838941174677,
        -364.7847753481774,
        -27.121358137783766
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.004166348733628293,
        -0.27855876953740016,
        -0.028251415290032587
      ],
      "position_mm": [
        4.1663487336282925,
        -278.55876953740017,
        -28.251415290032586
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44159074047364677,
        0.19419515195791326,
        -0.02810768778446718
      ],
      "position_mm": [
        441.59074047364675,
        194.19515195791325,
        -28.10768778446718
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 75,
      "position_m": [
        -0.027333906005240667,
        0.19203701283489072,
        -0.02675940931404483
      ],
      "position_mm": [
        -27.333906005240667,
        192.03701283489073,
        -26.75940931404483
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.312356933801352,
        -0.15852474753070211,
        -0.02740955581309066
      ],
      "position_mm": [
        312.356933801352,
        -158.52474753070211,
        -27.40955581309066
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 83,
      "position_m": [
        0.04564290947517105,
        0.3406062865860719,
        -0.02700234437748518
      ],
      "position_mm": [
        45.64290947517105,
        340.6062865860719,
        -27.00234437748518
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5061328289200021,
        -0.3136905415465362,
        -0.02725379883428523
      ],
      "position_mm": [
        506.1328289200021,
        -313.69054154653617,
        -27.25379883428523
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6464176874696504,
        -0.18608520451621038,
        -0.027687784064400384
      ],
      "position_mm": [
        646.4176874696504,
        -186.08520451621038,
        -27.687784064400386
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18661753834081662,
        -0.2754480972123809,
        -0.02793437309980433
      ],
      "position_mm": [
        186.61753834081662,
        -275.4480972123809,
        -27.93437309980433
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.36994634074256666,
        -0.18563293291980984,
        -0.02637160917504827
      ],
      "position_mm": [
        369.94634074256663,
        -185.63293291980983,
        -26.37160917504827
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 97,
      "position_m": [
        0.30414308918880784,
        -0.3605338799347044,
        -0.02356872877255958
      ],
      "position_mm": [
        304.14308918880783,
        -360.53387993470443,
        -23.56872877255958
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6515413251587184,
        -0.2241753714056013,
        -0.027205972809091938
      ],
      "position_mm": [
        651.5413251587185,
        -224.17537140560128,
        -27.20597280909194
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10592511381720475,
        -0.19008572920678246,
        -0.02752238899152434
      ],
      "position_mm": [
        105.92511381720475,
        -190.08572920678247,
        -27.52238899152434
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.31082723064047457,
        -0.1151222091251823,
        0.32762357660294056
      ],
      "position_mm": [
        310.82723064047457,
        -115.1222091251823,
        327.62357660294055
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6509575595203496,
        -0.009085584874998692,
        4.360342314964374e-05
      ],
      "position_mm": [
        650.9575595203496,
        -9.085584874998693,
        0.04360342314964374
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3520084252775169,
        -0.09085963023927889,
        0.0010237402434786665
      ],
      "position_mm": [
        352.0084252775169,
        -90.85963023927889,
        1.0237402434786664
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.022074165876784808,
        -0.018767625156365344,
        -0.00037961769378569367
      ],
      "position_mm": [
        22.074165876784807,
        -18.767625156365344,
        -0.37961769378569366
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 211,
      "position_m": [
        0.2521464028276479,
        -0.008565315721498133,
        0.0001346014156463352
      ],
      "position_mm": [
        252.14640282764788,
        -8.565315721498132,
        0.1346014156463352
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34762624933424857,
        -0.010981966339678953,
        0.0004277958684313889
      ],
      "position_mm": [
        347.6262493342486,
        -10.981966339678953,
        0.4277958684313889
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.25094447406594333,
        -0.08855619400369662,
        1.587135914708819e-05
      ],
      "position_mm": [
        250.94447406594333,
        -88.55619400369662,
        0.01587135914708819
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.2668911873113472,
        -0.13622368239604163,
        0.26254764829267213
      ],
      "position_mm": [
        266.8911873113472,
        -136.22368239604162,
        262.54764829267214
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 219,
      "position_m": [
        0.26161347760408543,
        -0.11547910853839935,
        0.3688310991065947
      ],
      "position_mm": [
        261.6134776040854,
        -115.47910853839934,
        368.83109910659465
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.18482317218027586,
        -0.11695871373948015,
        0.17903832104999776
      ],
      "position_mm": [
        184.82317218027586,
        -116.95871373948015,
        179.03832104999776
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 232,
      "position_m": [
        0.28074726533685723,
        -0.15644739645283973,
        0.1255527508924304
      ],
      "position_mm": [
        280.74726533685725,
        -156.44739645283974,
        125.5527508924304
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.19196054577244567,
        -0.15915470059389314,
        0.1541672191531943
      ],
      "position_mm": [
        191.96054577244567,
        -159.15470059389315,
        154.1672191531943
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 244,
      "position_m": [
        0.31782187240957943,
        -0.12842788276789519,
        0.14336695039915767
      ],
      "position_mm": [
        317.82187240957944,
        -128.4278827678952,
        143.36695039915767
      ],
      "link": "Ellbow",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.283414597784407,
        -0.1631003480413152,
        0.15136448800427668
      ],
      "position_mm": [
        283.41459778440696,
        -163.10034804131521,
        151.3644880042767
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.2460972276113246,
        -0.15947991627146674,
        0.15063758609539393
      ],
      "position_mm": [
        246.0972276113246,
        -159.47991627146675,
        150.63758609539394
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}