{ "schema_version": "1.2", "created_utc": "2026-06-03T04:16:12Z", "summary": { "num_cameras": 6, "num_markers": 49, "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": "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": 41, "position_m": [ 0.2845878136001195, -0.08312955524426864, 0.44099400267395616 ], "position_mm": [ 284.5878136001195, -83.12955524426864, 440.9940026739562 ], "link": "FingerA", "normal": [ 0.0, -0.9375276894468237, 0.34791066600565723 ] }, { "marker_id": 42, "position_m": [ 0.24826921746793756, -0.08131835247131289, 0.4714228233146397 ], "position_mm": [ 248.26921746793755, -81.31835247131289, 471.4228233146397 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 43, "position_m": [ 0.2792505447655934, -0.053366788055752054, 0.4544214282187859 ], "position_mm": [ 279.2505447655934, -53.36678805575205, 454.4214282187859 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 47, "position_m": [ 0.3443131690299116, -0.2856001408850698, -0.029353936489978697 ], "position_mm": [ 344.3131690299116, -285.6001408850698, -29.353936489978697 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 48, "position_m": [ 0.6872859400463482, -0.31898643940260196, -0.027193662964210333 ], "position_mm": [ 687.2859400463483, -318.98643940260195, -27.193662964210333 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.16785683884087685, -0.17366191377963308, -0.02722462467574723 ], "position_mm": [ 167.85683884087686, -173.66191377963307, -27.22462467574723 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.48782355116195963, 0.2135404665135045, -0.025888431615125065 ], "position_mm": [ 487.82355116195964, 213.5404665135045, -25.888431615125064 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.3403334701871276, -0.32938373694739664, -0.025979638420672094 ], "position_mm": [ 340.3334701871276, -329.38373694739664, -25.979638420672092 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.2841961476462362, -0.2607631857174943, -0.02720714777806827 ], "position_mm": [ 284.19614764623617, -260.7631857174943, -27.207147778068272 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.048454493904794844, -0.2167020613544816, -0.02682302201030513 ], "position_mm": [ 48.454493904794845, -216.7020613544816, -26.82302201030513 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.6248858519001955, -0.2769071911877489, -0.028084684867433693 ], "position_mm": [ 624.8858519001956, -276.90719118774894, -28.084684867433694 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.40441336251147525, -0.17290505421437505, -0.028117130764406827 ], "position_mm": [ 404.41336251147527, -172.90505421437504, -28.117130764406827 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 63, "position_m": [ 0.774945397708602, -0.23639116106194794, -0.02765827615822816 ], "position_mm": [ 774.9453977086021, -236.39116106194794, -27.65827615822816 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.022508399205411884, -0.185989771945657, -0.029286151409946108 ], "position_mm": [ -22.508399205411884, -185.989771945657, -29.286151409946108 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 66, "position_m": [ 0.20966774761450438, -0.3648827502744256, -0.027089020775231856 ], "position_mm": [ 209.66774761450438, -364.88275027442563, -27.089020775231855 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.005024563082959406, -0.2791482140073098, -0.027492584379966482 ], "position_mm": [ 5.024563082959406, -279.14821400730983, -27.492584379966484 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.44279097745176765, 0.19539926651192188, -0.029432512798505703 ], "position_mm": [ 442.7909774517677, 195.3992665119219, -29.432512798505705 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 75, "position_m": [ -0.027139366474721153, 0.19225261874719635, -0.026963574101915293 ], "position_mm": [ -27.139366474721154, 192.25261874719635, -26.96357410191529 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 76, "position_m": [ 0.6853511912910756, 0.16720409685505896, -0.02588897790542648 ], "position_mm": [ 685.3511912910756, 167.20409685505896, -25.88897790542648 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.31237647148179565, -0.15859057988244138, -0.027392165115266518 ], "position_mm": [ 312.37647148179565, -158.59057988244138, -27.39216511526652 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 83, "position_m": [ 0.04564290947513863, 0.34060628658282355, -0.027002344372594786 ], "position_mm": [ 45.64290947513863, 340.60628658282354, -27.002344372594784 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.50650248090863, -0.31331706854901764, -0.027477323268388067 ], "position_mm": [ 506.50248090863005, -313.3170685490176, -27.477323268388066 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 86, "position_m": [ 0.36227375603518724, 0.2959948873698327, -0.027904251523925828 ], "position_mm": [ 362.27375603518726, 295.9948873698327, -27.90425152392583 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.6462173493357928, -0.18478440715023672, -0.028166466978570462 ], "position_mm": [ 646.2173493357927, -184.78440715023672, -28.166466978570462 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 94, "position_m": [ 0.8729828258820428, 0.174871500207059, -0.02745946858413013 ], "position_mm": [ 872.9828258820428, 174.871500207059, -27.459468584130132 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.18662973874283115, -0.27555189668408436, -0.028043394810232308 ], "position_mm": [ 186.62973874283114, -275.55189668408434, -28.043394810232307 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.36999596234351945, -0.18563304719701318, -0.026310030887633853 ], "position_mm": [ 369.99596234351947, -185.63304719701318, -26.310030887633854 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 97, "position_m": [ 0.3041708465958557, -0.36053239417638805, -0.02361511361869122 ], "position_mm": [ 304.17084659585566, -360.53239417638804, -23.61511361869122 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6519205298002738, -0.22279278495157764, -0.027742796191647164 ], "position_mm": [ 651.9205298002738, -222.79278495157763, -27.742796191647162 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10596825287681441, -0.19006828744250912, -0.027551932976628682 ], "position_mm": [ 105.96825287681442, -190.0682874425091, -27.55193297662868 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 105, "position_m": [ 0.5233958773732662, -0.2655462475349594, -0.029775628002187842 ], "position_mm": [ 523.3958773732662, -265.54624753495943, -29.77562800218784 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 113, "position_m": [ 0.30934297758416673, -0.11221288828959244, 0.32757565870131544 ], "position_mm": [ 309.34297758416676, -112.21288828959244, 327.57565870131543 ], "link": "Arm2", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 198, "position_m": [ 0.19149162186756355, -0.030903477006144743, 0.15027763103604444 ], "position_mm": [ 191.49162186756354, -30.903477006144744, 150.27763103604445 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 206, "position_m": [ 0.6512072802208533, -0.010027675606445487, 0.00024218823650127622 ], "position_mm": [ 651.2072802208532, -10.027675606445488, 0.24218823650127622 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 207, "position_m": [ 0.7511517726503444, -0.013059698715701453, 0.0016233258210250619 ], "position_mm": [ 751.1517726503444, -13.059698715701453, 1.6233258210250618 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.35208140909317037, -0.09100329310739755, 0.0011514883596726911 ], "position_mm": [ 352.08140909317035, -91.00329310739755, 1.1514883596726913 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.022134087288782536, -0.018797653244016742, -0.0006480728398587991 ], "position_mm": [ 22.134087288782535, -18.797653244016743, -0.6480728398587992 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 211, "position_m": [ 0.2521836582448441, -0.008694192160703478, 0.00019194019317999341 ], "position_mm": [ 252.1836582448441, -8.694192160703478, 0.19194019317999342 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.34775770690453467, -0.011123229628084175, 0.00045841323558252535 ], "position_mm": [ 347.75770690453464, -11.123229628084175, 0.45841323558252534 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 215, "position_m": [ 0.25090870397786635, -0.0886839311433398, 6.720455038307789e-05 ], "position_mm": [ 250.90870397786637, -88.6839311433398, 0.06720455038307789 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 217, "position_m": [ 0.6468068243317232, -0.08990491490200402, -0.00027319152625104854 ], "position_mm": [ 646.8068243317232, -89.90491490200401, -0.27319152625104853 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 218, "position_m": [ 0.2668911873117717, -0.1362236823944612, 0.26254764829003674 ], "position_mm": [ 266.8911873117717, -136.2236823944612, 262.54764829003676 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 219, "position_m": [ 0.2618106158911838, -0.11519011144769874, 0.3688455384571295 ], "position_mm": [ 261.81061589118383, -115.19011144769874, 368.84553845712946 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 229, "position_m": [ 0.18600806534577977, -0.11616968738730427, 0.178554940476556 ], "position_mm": [ 186.00806534577976, -116.16968738730426, 178.554940476556 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 232, "position_m": [ 0.2806875512192777, -0.15628924366228833, 0.12546986112476805 ], "position_mm": [ 280.6875512192777, -156.28924366228833, 125.46986112476804 ], "link": "Ellbow", "normal": [ 0.0, 0.7071067811865475, -0.7071067811865475 ] }, { "marker_id": 243, "position_m": [ 0.19184833991965963, -0.1588110444335775, 0.1541085541921545 ], "position_mm": [ 191.84833991965962, -158.81104443357748, 154.1085541921545 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 244, "position_m": [ 0.31649171576692714, -0.12704167499669905, 0.14283828221036787 ], "position_mm": [ 316.49171576692714, -127.04167499669904, 142.83828221036788 ], "link": "Ellbow", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.28332492937168813, -0.16279038992752068, 0.15132331939023053 ], "position_mm": [ 283.32492937168814, -162.7903899275207, 151.32331939023052 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 248, "position_m": [ 0.24598460494843422, -0.15941315985762228, 0.15060616958812506 ], "position_mm": [ 245.98460494843422, -159.41315985762228, 150.60616958812506 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }