{ "schema_version": "1.2", "created_utc": "2026-06-03T04:17:00Z", "summary": { "num_cameras": 7, "num_markers": 51, "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 ] }, { "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": [ 0.28458781368035735, -0.0831295553036194, 0.44099400275026257 ], "position_mm": [ 284.5878136803573, -83.1295553036194, 440.99400275026255 ], "link": "FingerA", "normal": [ 0.0, -0.9375276894468237, 0.34791066600565723 ] }, { "marker_id": 42, "position_m": [ 0.24826921739025368, -0.08131835237489168, 0.4714228231931771 ], "position_mm": [ 248.2692173902537, -81.31835237489169, 471.42282319317707 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 43, "position_m": [ 0.27925054476440797, -0.05336678805033148, 0.45442142821091286 ], "position_mm": [ 279.25054476440795, -53.36678805033148, 454.42142821091284 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 47, "position_m": [ 0.3443367908980768, -0.28548752470734884, -0.02943923611507447 ], "position_mm": [ 344.3367908980768, -285.4875247073488, -29.439236115074472 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 48, "position_m": [ 0.6873658605919859, -0.3189658329698259, -0.027180938447351352 ], "position_mm": [ 687.3658605919859, -318.9658329698259, -27.180938447351352 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.16804549251560044, -0.17358975119284578, -0.02728323717570127 ], "position_mm": [ 168.04549251560044, -173.58975119284577, -27.28323717570127 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.4870981186099572, 0.21324392656811147, -0.025771052851902475 ], "position_mm": [ 487.0981186099572, 213.24392656811148, -25.771052851902475 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.3402121368075054, -0.32927158720856387, -0.02625035982439783 ], "position_mm": [ 340.2121368075054, -329.27158720856386, -26.25035982439783 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.28417822960026157, -0.2607592098515706, -0.027203816169614602 ], "position_mm": [ 284.17822960026155, -260.7592098515706, -27.2038161696146 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.04905415019520021, -0.2174777115056346, -0.026165206013923557 ], "position_mm": [ 49.05415019520021, -217.4777115056346, -26.165206013923555 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.62489214192024, -0.27699531939359967, -0.028040322279414047 ], "position_mm": [ 624.89214192024, -276.9953193935997, -28.040322279414045 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.40446593597058633, -0.17287052080641774, -0.02813911971181078 ], "position_mm": [ 404.4659359705863, -172.87052080641774, -28.139119711810782 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 63, "position_m": [ 0.7749325422612298, -0.23629850383139525, -0.02771036694546885 ], "position_mm": [ 774.9325422612297, -236.29850383139524, -27.71036694546885 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.02192295564745397, -0.1867951132390801, -0.028586798788759273 ], "position_mm": [ -21.92295564745397, -186.7951132390801, -28.586798788759275 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 66, "position_m": [ 0.20966456299931194, -0.3648450545895993, -0.027096105913837994 ], "position_mm": [ 209.66456299931193, -364.84505458959933, -27.096105913837995 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 68, "position_m": [ 0.5745459984904546, 0.17330993708877782, -0.027022995267236716 ], "position_mm": [ 574.5459984904546, 173.30993708877782, -27.022995267236716 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.005010158141969213, -0.2794824457290163, -0.027453538754954217 ], "position_mm": [ 5.010158141969213, -279.4824457290163, -27.453538754954216 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 71, "position_m": [ 0.7504133317302832, -0.2858059932267028, -0.026001951875344625 ], "position_mm": [ 750.4133317302833, -285.8059932267028, -26.001951875344627 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.4424377710387681, 0.19410251982722543, -0.02871344882512454 ], "position_mm": [ 442.43777103876806, 194.10251982722542, -28.71344882512454 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 75, "position_m": [ -0.027139366474093173, 0.19225261874103702, -0.026963574096053503 ], "position_mm": [ -27.139366474093173, 192.25261874103703, -26.963574096053502 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 76, "position_m": [ 0.6859176384880118, 0.16715215166853903, -0.026036594545022024 ], "position_mm": [ 685.9176384880118, 167.15215166853903, -26.036594545022023 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.3123552741632557, -0.15856518643582393, -0.027413331403551594 ], "position_mm": [ 312.35527416325573, -158.56518643582393, -27.413331403551595 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 83, "position_m": [ 0.04564290947696477, 0.3406062865863538, -0.02700234437759279 ], "position_mm": [ 45.64290947696477, 340.6062865863538, -27.00234437759279 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5065834167734267, -0.31335134801494025, -0.0274143053221702 ], "position_mm": [ 506.5834167734267, -313.35134801494024, -27.4143053221702 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 86, "position_m": [ 0.36115549142364367, 0.29355939832817507, -0.02608989401626787 ], "position_mm": [ 361.1554914236437, 293.55939832817506, -26.08989401626787 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.6462294477906607, -0.18477517644480898, -0.02814325601900272 ], "position_mm": [ 646.2294477906607, -184.77517644480898, -28.14325601900272 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 94, "position_m": [ 0.8729828258821126, 0.17487150020713668, -0.02745946858422091 ], "position_mm": [ 872.9828258821126, 174.87150020713668, -27.459468584220907 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.1866155583385665, -0.2755171917238502, -0.028064925651942588 ], "position_mm": [ 186.6155583385665, -275.5171917238502, -28.064925651942588 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.37001681726556546, -0.18552000970824895, -0.02638610042784995 ], "position_mm": [ 370.01681726556546, -185.52000970824895, -26.38610042784995 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 97, "position_m": [ 0.304167955254576, -0.3605328483497426, -0.023582818584801504 ], "position_mm": [ 304.16795525457604, -360.5328483497426, -23.582818584801505 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6517794539755785, -0.22280701264168837, -0.027797286051991846 ], "position_mm": [ 651.7794539755785, -222.80701264168837, -27.797286051991847 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10615910898605672, -0.19000501656289864, -0.027574446192718444 ], "position_mm": [ 106.15910898605672, -190.00501656289865, -27.574446192718444 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 105, "position_m": [ 0.5234111465053786, -0.26556011008841507, -0.029769201527814763 ], "position_mm": [ 523.4111465053786, -265.56011008841506, -29.76920152781476 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 113, "position_m": [ 0.3093429775846916, -0.11221288829114047, 0.3275756587007305 ], "position_mm": [ 309.3429775846916, -112.21288829114047, 327.5756587007305 ], "link": "Arm2", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 198, "position_m": [ 0.19113330229195769, -0.030543535133057586, 0.14984187503104932 ], "position_mm": [ 191.13330229195768, -30.543535133057585, 149.8418750310493 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 206, "position_m": [ 0.651220131071122, -0.009958017925349557, 0.00018969638322051228 ], "position_mm": [ 651.220131071122, -9.958017925349557, 0.18969638322051227 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 207, "position_m": [ 0.7511622201513376, -0.013049826898611902, 0.0016116000167501357 ], "position_mm": [ 751.1622201513376, -13.049826898611903, 1.6116000167501356 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.3520822636125896, -0.09099951461364728, 0.0011508033442671377 ], "position_mm": [ 352.0822636125896, -90.99951461364728, 1.1508033442671377 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.022039235282496364, -0.01938898515189703, -0.0001471437322184511 ], "position_mm": [ 22.039235282496364, -19.38898515189703, -0.1471437322184511 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 211, "position_m": [ 0.2521736879307108, -0.008659645548632916, 0.0001765726889967646 ], "position_mm": [ 252.17368793071083, -8.659645548632916, 0.1765726889967646 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.3477567833776194, -0.011119557969000377, 0.00045652209858710506 ], "position_mm": [ 347.7567833776194, -11.119557969000377, 0.4565220985871051 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 215, "position_m": [ 0.25090101713265517, -0.08864942268116975, 5.3066156169110985e-05 ], "position_mm": [ 250.90101713265517, -88.64942268116975, 0.053066156169110985 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 217, "position_m": [ 0.64689697488583, -0.08983861012781585, -0.0004466118621018148 ], "position_mm": [ 646.89697488583, -89.83861012781585, -0.4466118621018148 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 218, "position_m": [ 0.26689118731231487, -0.13622368239641913, 0.2625476482906093 ], "position_mm": [ 266.89118731231486, -136.22368239641912, 262.5476482906093 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 219, "position_m": [ 0.2618106158923365, -0.11519011144978505, 0.36884553845714513 ], "position_mm": [ 261.8106158923365, -115.19011144978505, 368.84553845714515 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 229, "position_m": [ 0.186063139377048, -0.11584595444624358, 0.17808714356263752 ], "position_mm": [ 186.063139377048, -115.84595444624358, 178.08714356263752 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 232, "position_m": [ 0.28067774248418176, -0.15626363865129914, 0.1254568514711345 ], "position_mm": [ 280.67774248418175, -156.26363865129915, 125.4568514711345 ], "link": "Ellbow", "normal": [ 0.0, 0.7071067811865475, -0.7071067811865475 ] }, { "marker_id": 243, "position_m": [ 0.19183442127866512, -0.158751075385639, 0.15408998954477135 ], "position_mm": [ 191.83442127866513, -158.751075385639, 154.08998954477136 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 244, "position_m": [ 0.31613342671743433, -0.126703965345485, 0.14270774070263362 ], "position_mm": [ 316.1334267174343, -126.703965345485, 142.70774070263363 ], "link": "Ellbow", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.2833284600656872, -0.16275701628608866, 0.15131089719053498 ], "position_mm": [ 283.3284600656872, -162.75701628608866, 151.31089719053497 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 248, "position_m": [ 0.24598439423851307, -0.15941828631902627, 0.15060845733151507 ], "position_mm": [ 245.98439423851306, -159.41828631902627, 150.60845733151507 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }