{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:16:39Z",
  "summary": {
    "num_cameras": 6,
    "num_markers": 48,
    "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": "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
      ]
    },
    {
      "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": [
        0.28458781358204543,
        -0.08312955522532796,
        0.4409940026265886
      ],
      "position_mm": [
        284.58781358204544,
        -83.12955522532796,
        440.9940026265886
      ],
      "link": "FingerA",
      "normal": [
        0.0,
        -0.9375276894468237,
        0.34791066600565723
      ]
    },
    {
      "marker_id": 42,
      "position_m": [
        0.24826921747396458,
        -0.08131835246568253,
        0.4714228232968319
      ],
      "position_mm": [
        248.26921747396457,
        -81.31835246568254,
        471.4228232968319
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.279250544764831,
        -0.05336678805356859,
        0.4544214282174798
      ],
      "position_mm": [
        279.25054476483103,
        -53.36678805356859,
        454.4214282174798
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.3443329110498427,
        -0.2854934154783316,
        -0.029438506235855883
      ],
      "position_mm": [
        344.3329110498427,
        -285.4934154783316,
        -29.438506235855883
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 48,
      "position_m": [
        0.68736619373179,
        -0.31896626540253264,
        -0.027180633866012938
      ],
      "position_mm": [
        687.36619373179,
        -318.96626540253266,
        -27.180633866012936
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.1679414021351519,
        -0.17369944221740982,
        -0.027207591981134198
      ],
      "position_mm": [
        167.94140213515192,
        -173.69944221740982,
        -27.207591981134197
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.4870981184718412,
        0.21324393153184054,
        -0.025771071134035813
      ],
      "position_mm": [
        487.0981184718412,
        213.24393153184053,
        -25.771071134035815
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3402182940906171,
        -0.3292782976107624,
        -0.02624793405553293
      ],
      "position_mm": [
        340.2182940906171,
        -329.27829761076237,
        -26.24793405553293
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.28417691323411687,
        -0.2607588125834464,
        -0.0272036705650644
      ],
      "position_mm": [
        284.17691323411685,
        -260.7588125834464,
        -27.2036705650644
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.049671584644529164,
        -0.2186346453577849,
        -0.024792205672873296
      ],
      "position_mm": [
        49.67158464452916,
        -218.6346453577849,
        -24.792205672873298
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.6248926095020331,
        -0.2769955533261033,
        -0.028040095525784497
      ],
      "position_mm": [
        624.8926095020331,
        -276.99555332610333,
        -28.040095525784498
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40448272967419047,
        -0.17284936461455055,
        -0.02815404894479393
      ],
      "position_mm": [
        404.48272967419047,
        -172.84936461455055,
        -28.15404894479393
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7749325319716988,
        -0.2362984303881277,
        -0.027710408194129187
      ],
      "position_mm": [
        774.9325319716987,
        -236.2984303881277,
        -27.710408194129187
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.021047182565353022,
        -0.1874203496973258,
        -0.027885456983186438
      ],
      "position_mm": [
        -21.047182565353022,
        -187.4203496973258,
        -27.885456983186437
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 66,
      "position_m": [
        0.20967665635429386,
        -0.36491938777869,
        -0.02707958524603503
      ],
      "position_mm": [
        209.67665635429387,
        -364.91938777869,
        -27.07958524603503
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 68,
      "position_m": [
        0.5745460000242051,
        0.17330993738890027,
        -0.02702299776534483
      ],
      "position_mm": [
        574.5460000242051,
        173.30993738890027,
        -27.02299776534483
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.004648123778315809,
        -0.2798956179222962,
        -0.027266402361328816
      ],
      "position_mm": [
        4.648123778315809,
        -279.8956179222962,
        -27.266402361328815
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 71,
      "position_m": [
        0.7504134379307256,
        -0.2858059796498355,
        -0.026002056160910503
      ],
      "position_mm": [
        750.4134379307255,
        -285.8059796498355,
        -26.002056160910502
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.4424377719985795,
        0.1941025179071799,
        -0.028713438987128248
      ],
      "position_mm": [
        442.4377719985795,
        194.1025179071799,
        -28.71343898712825
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 75,
      "position_m": [
        -0.027139366474935915,
        0.19225261874826657,
        -0.026963574105883722
      ],
      "position_mm": [
        -27.139366474935915,
        192.25261874826657,
        -26.963574105883723
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 76,
      "position_m": [
        0.6859176402880047,
        0.16715215652838988,
        -0.02603659863616694
      ],
      "position_mm": [
        685.9176402880047,
        167.1521565283899,
        -26.03659863616694
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3124853040703956,
        -0.15841681553456438,
        -0.02829922849972324
      ],
      "position_mm": [
        312.4853040703956,
        -158.4168155345644,
        -28.29922849972324
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 83,
      "position_m": [
        0.045642909474498526,
        0.340606286583865,
        -0.027002344374272524
      ],
      "position_mm": [
        45.64290947449852,
        340.60628658386497,
        -27.002344374272525
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5065834920083945,
        -0.31335112019195277,
        -0.027414433330291133
      ],
      "position_mm": [
        506.5834920083945,
        -313.35112019195276,
        -27.414433330291132
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.36115549142645326,
        0.29355939833093986,
        -0.026089894025534934
      ],
      "position_mm": [
        361.15549142645324,
        293.55939833093987,
        -26.089894025534935
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6462294453533539,
        -0.18477516959359735,
        -0.028143260630046806
      ],
      "position_mm": [
        646.2294453533539,
        -184.77516959359735,
        -28.143260630046807
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 94,
      "position_m": [
        0.8729828258820088,
        0.1748715002070125,
        -0.02745946858408855
      ],
      "position_mm": [
        872.9828258820088,
        174.8715002070125,
        -27.459468584088548
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18644947628252434,
        -0.27563768946389633,
        -0.028048256038837906
      ],
      "position_mm": [
        186.44947628252433,
        -275.6376894638963,
        -28.048256038837906
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.37004763591163253,
        -0.18553481886229628,
        -0.026385477156806347
      ],
      "position_mm": [
        370.04763591163254,
        -185.53481886229628,
        -26.385477156806346
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 97,
      "position_m": [
        0.304177483756585,
        -0.36054311759217195,
        -0.023576569296247976
      ],
      "position_mm": [
        304.177483756585,
        -360.54311759217194,
        -23.576569296247975
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6517794414512246,
        -0.2228070073002706,
        -0.027797294868214136
      ],
      "position_mm": [
        651.7794414512246,
        -222.80700730027058,
        -27.797294868214138
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10592738560444175,
        -0.18960754958944395,
        -0.028023585195821644
      ],
      "position_mm": [
        105.92738560444174,
        -189.60754958944395,
        -28.023585195821642
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 105,
      "position_m": [
        0.5234116644603584,
        -0.26556008029244993,
        -0.02977018491800649
      ],
      "position_mm": [
        523.4116644603583,
        -265.5600802924499,
        -29.77018491800649
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.30988637149634474,
        -0.11163676160701566,
        0.328663187121746
      ],
      "position_mm": [
        309.88637149634474,
        -111.63676160701566,
        328.66318712174603
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.19090074762485382,
        -0.03039124404487924,
        0.14977617054801734
      ],
      "position_mm": [
        190.9007476248538,
        -30.39124404487924,
        149.77617054801735
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6512201308413033,
        -0.009958012408830473,
        0.00018969404105713964
      ],
      "position_mm": [
        651.2201308413032,
        -9.958012408830474,
        0.18969404105713963
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 207,
      "position_m": [
        0.7511622197009079,
        -0.01304982724076231,
        0.0016116004418406855
      ],
      "position_mm": [
        751.1622197009079,
        -13.04982724076231,
        1.6116004418406855
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3515604134192545,
        -0.09076768197021393,
        0.0009579384196274347
      ],
      "position_mm": [
        351.5604134192545,
        -90.76768197021393,
        0.9579384196274346
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.021989316136322542,
        -0.0197000680480764,
        0.00011577637751424253
      ],
      "position_mm": [
        21.989316136322543,
        -19.700068048076403,
        0.11577637751424254
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34794283221788674,
        -0.010853464272685891,
        0.0001641797812635065
      ],
      "position_mm": [
        347.94283221788675,
        -10.85346427268589,
        0.1641797812635065
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.2510179115836105,
        -0.08888677318171474,
        0.00010109815872407338
      ],
      "position_mm": [
        251.01791158361047,
        -88.88677318171474,
        0.10109815872407338
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6468969762470951,
        -0.08983860471780158,
        -0.0004466116256296896
      ],
      "position_mm": [
        646.896976247095,
        -89.83860471780159,
        -0.44661162562968965
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.26783100399286086,
        -0.13327168140045864,
        0.2617856383708548
      ],
      "position_mm": [
        267.8310039928609,
        -133.27168140045865,
        261.78563837085477
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 219,
      "position_m": [
        0.26230820603553345,
        -0.11468402832114358,
        0.3690418726774379
      ],
      "position_mm": [
        262.30820603553343,
        -114.68402832114357,
        369.0418726774379
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.1860358545865031,
        -0.11554154404782305,
        0.1785122514259619
      ],
      "position_mm": [
        186.0358545865031,
        -115.54154404782305,
        178.5122514259619
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.19221075196270282,
        -0.15807156604127146,
        0.1539544676302828
      ],
      "position_mm": [
        192.21075196270283,
        -158.07156604127147,
        153.9544676302828
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.2836875479131604,
        -0.16112748705756533,
        0.15033769047936352
      ],
      "position_mm": [
        283.6875479131604,
        -161.12748705756533,
        150.33769047936352
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.24625324145958138,
        -0.15891763859995386,
        0.15043472979102418
      ],
      "position_mm": [
        246.25324145958137,
        -158.91763859995388,
        150.43472979102418
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}