{
  "schema_version": "1.2",
  "stage": "initial_triangulation",
  "created_utc": "2026-06-03T04:16:28Z",
  "summary": {
    "num_cameras": 6,
    "num_markers": 46,
    "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": "f",
      "position_m": [
        0.48085701508868617,
        -0.3026928145345371,
        1.4042255506450263
      ],
      "position_mm": [
        480.8570150886862,
        -302.6928145345371,
        1404.2255506450263
      ],
      "direction": [
        -0.22449733316898346,
        0.08296965062618256,
        -0.970936119556427
      ]
    },
    {
      "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": 41,
      "position_m": [
        0.28625071698053056,
        -0.08494089527971924,
        0.44491799542514565
      ],
      "position_mm": [
        286.25071698053057,
        -84.94089527971924,
        444.91799542514565
      ],
      "link": "FingerA",
      "normal": [
        0.0,
        -0.9375276894468237,
        0.34791066600565723
      ]
    },
    {
      "marker_id": 42,
      "position_m": [
        0.24838392962377034,
        -0.08034829770181458,
        0.469441123695567
      ],
      "position_mm": [
        248.38392962377034,
        -80.34829770181457,
        469.441123695567
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.2796555198378318,
        -0.05354036173117714,
        0.45448624492978035
      ],
      "position_mm": [
        279.65551983783183,
        -53.54036173117714,
        454.48624492978036
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.3436427592081537,
        -0.2883671256311528,
        -0.027309136083901776
      ],
      "position_mm": [
        343.6427592081537,
        -288.3671256311528,
        -27.309136083901777
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16840192155576322,
        -0.17337707337689057,
        -0.027335354000751037
      ],
      "position_mm": [
        168.4019215557632,
        -173.37707337689056,
        -27.33535400075104
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.4878549583844099,
        0.21353604559593412,
        -0.027066900009570332
      ],
      "position_mm": [
        487.8549583844099,
        213.53604559593413,
        -27.066900009570332
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3400868412036555,
        -0.3277211755149552,
        -0.02776267881992091
      ],
      "position_mm": [
        340.0868412036555,
        -327.72117551495523,
        -27.76267881992091
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.28452389449424054,
        -0.2609632532372915,
        -0.027192970134056613
      ],
      "position_mm": [
        284.52389449424055,
        -260.96325323729155,
        -27.192970134056612
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.047585194365194185,
        -0.21632314961273078,
        -0.027187528797273527
      ],
      "position_mm": [
        47.585194365194184,
        -216.3231496127308,
        -27.187528797273526
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4021217165979651,
        -0.1730647694725041,
        -0.02816154558242936
      ],
      "position_mm": [
        402.1217165979651,
        -173.0647694725041,
        -28.161545582429362
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.018456891308845202,
        -0.190025524063342,
        -0.026958282815226078
      ],
      "position_mm": [
        -18.4568913088452,
        -190.025524063342,
        -26.958282815226077
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 68,
      "position_m": [
        0.5752058652830718,
        0.17338329135149888,
        -0.028213186708784838
      ],
      "position_mm": [
        575.2058652830718,
        173.38329135149888,
        -28.21318670878484
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.0067027738987898225,
        -0.2778931890398071,
        -0.027403310027992744
      ],
      "position_mm": [
        6.702773898789823,
        -277.8931890398071,
        -27.403310027992745
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 71,
      "position_m": [
        0.7509316849096249,
        -0.2854641858169035,
        -0.026838361300171424
      ],
      "position_mm": [
        750.9316849096249,
        -285.4641858169035,
        -26.838361300171425
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44006775927012814,
        0.19238419232452234,
        -0.026439486519463682
      ],
      "position_mm": [
        440.06775927012814,
        192.38419232452233,
        -26.43948651946368
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 75,
      "position_m": [
        -0.027269075538657258,
        0.1919859059408862,
        -0.026805718469614458
      ],
      "position_mm": [
        -27.26907553865726,
        191.9859059408862,
        -26.805718469614458
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 76,
      "position_m": [
        0.6865577141203656,
        0.16909811208704573,
        -0.027648479690950432
      ],
      "position_mm": [
        686.5577141203656,
        169.09811208704573,
        -27.64847969095043
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.31179117488803276,
        -0.15951234701714542,
        -0.027866865515992996
      ],
      "position_mm": [
        311.79117488803274,
        -159.51234701714543,
        -27.866865515992995
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 83,
      "position_m": [
        0.04569169372080601,
        0.34056990722960356,
        -0.02703535513995095
      ],
      "position_mm": [
        45.69169372080601,
        340.5699072296036,
        -27.03535513995095
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5069605861065379,
        -0.31360545899795017,
        -0.027532872369609957
      ],
      "position_mm": [
        506.96058610653796,
        -313.60545899795017,
        -27.532872369609958
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.3615626248018839,
        0.29351791015622114,
        -0.026395704140364237
      ],
      "position_mm": [
        361.5626248018839,
        293.51791015622115,
        -26.395704140364238
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6468625736213326,
        -0.18659958155829331,
        -0.027937814780461406
      ],
      "position_mm": [
        646.8625736213326,
        -186.59958155829332,
        -27.937814780461405
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 94,
      "position_m": [
        0.8729827517375159,
        0.17487169830675559,
        -0.027459280475570603
      ],
      "position_mm": [
        872.982751737516,
        174.87169830675558,
        -27.4592804755706
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18735342754132403,
        -0.2766713429774124,
        -0.02709593134358942
      ],
      "position_mm": [
        187.35342754132404,
        -276.6713429774124,
        -27.09593134358942
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.37228139768193613,
        -0.1844101964268814,
        -0.027747663088679396
      ],
      "position_mm": [
        372.28139768193614,
        -184.41019642688138,
        -27.747663088679396
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 97,
      "position_m": [
        0.30648708943008246,
        -0.3585049191425899,
        -0.02688710577745693
      ],
      "position_mm": [
        306.48708943008245,
        -358.5049191425899,
        -26.88710577745693
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6513157823020904,
        -0.22380888170754965,
        -0.02802760671068036
      ],
      "position_mm": [
        651.3157823020904,
        -223.80888170754963,
        -28.02760671068036
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10516811226057994,
        -0.19126353680941294,
        -0.027017026418536337
      ],
      "position_mm": [
        105.16811226057995,
        -191.26353680941293,
        -27.017026418536336
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 105,
      "position_m": [
        0.5229192757023443,
        -0.26751661498920615,
        -0.028112949832478133
      ],
      "position_mm": [
        522.9192757023443,
        -267.5166149892062,
        -28.112949832478133
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.3069787883539941,
        -0.10782540167227238,
        0.3264196440175695
      ],
      "position_mm": [
        306.9787883539941,
        -107.82540167227238,
        326.4196440175695
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.19116428992797635,
        -0.029740632679746675,
        0.14903820613668914
      ],
      "position_mm": [
        191.16428992797634,
        -29.740632679746675,
        149.03820613668913
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6506943524308547,
        -0.009631363317012065,
        -0.0005032525189379349
      ],
      "position_mm": [
        650.6943524308547,
        -9.631363317012065,
        -0.5032525189379349
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 207,
      "position_m": [
        0.753123178992366,
        -0.011328291945676286,
        -0.00045326533774946143
      ],
      "position_mm": [
        753.123178992366,
        -11.328291945676286,
        -0.4532653377494614
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3522767284215946,
        -0.08929259977431503,
        0.0009486420757526319
      ],
      "position_mm": [
        352.27672842159456,
        -89.29259977431502,
        0.9486420757526319
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02171256703813408,
        -0.02053817861547794,
        0.0009381663408808204
      ],
      "position_mm": [
        21.712567038134083,
        -20.53817861547794,
        0.9381663408808204
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 211,
      "position_m": [
        0.2524885416230699,
        -0.009750143776839042,
        0.0006577761161822469
      ],
      "position_mm": [
        252.4885416230699,
        -9.750143776839042,
        0.6577761161822469
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34753169466528255,
        -0.012186072913494543,
        0.0008043987153456231
      ],
      "position_mm": [
        347.53169466528254,
        -12.186072913494543,
        0.8043987153456231
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.25096546278076554,
        -0.08892455382197825,
        0.00026225521156614094
      ],
      "position_mm": [
        250.96546278076553,
        -88.92455382197825,
        0.26225521156614096
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6468620528767385,
        -0.08938656399291049,
        -5.5089022556148844e-05
      ],
      "position_mm": [
        646.8620528767385,
        -89.3865639929105,
        -0.055089022556148844
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.264694336179231,
        -0.1363428809131377,
        0.2625458209104202
      ],
      "position_mm": [
        264.694336179231,
        -136.3428809131377,
        262.5458209104202
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 219,
      "position_m": [
        0.26155059614338816,
        -0.11553021735948103,
        0.3686786760800038
      ],
      "position_mm": [
        261.55059614338813,
        -115.53021735948103,
        368.6786760800038
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.18464409549307326,
        -0.1145495137111058,
        0.18119995268318081
      ],
      "position_mm": [
        184.64409549307325,
        -114.5495137111058,
        181.1999526831808
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 232,
      "position_m": [
        0.2815594114950323,
        -0.15861266613391473,
        0.12661665310045728
      ],
      "position_mm": [
        281.5594114950323,
        -158.61266613391473,
        126.61665310045727
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.19099082852998864,
        -0.16127414625352937,
        0.15512556769782754
      ],
      "position_mm": [
        190.99082852998865,
        -161.27414625352938,
        155.12556769782753
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.2802456179829176,
        -0.1622158462907791,
        0.1510019001603954
      ],
      "position_mm": [
        280.24561798291757,
        -162.2158462907791,
        151.00190016039542
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.24598181830507204,
        -0.1602705880695732,
        0.15105456259705546
      ],
      "position_mm": [
        245.98181830507204,
        -160.2705880695732,
        151.05456259705545
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}