{ "schema_version": "1.2", "created_utc": "2026-06-03T04:17:11Z", "summary": { "num_cameras": 3, "num_markers": 11, "num_constraints": 94 }, "cameras": [ { "camera_id": "b", "position_m": [ 0.3032776168602546, -0.9034907966109161, 1.1914760495863213 ], "position_mm": [ 303.2776168602546, -903.4907966109162, 1191.4760495863213 ], "direction": [ 0.005841582547873259, 0.630989134311676, -0.7757696509361267 ] }, { "camera_id": "d", "position_m": [ 0.7053726989327014, -0.7916993791931249, 0.39580877555507565 ], "position_mm": [ 705.3726989327014, -791.699379193125, 395.80877555507567 ], "direction": [ -0.5581956505775452, 0.7812879085540771, -0.2792970836162567 ] }, { "camera_id": "g", "position_m": [ -0.2105851021647306, 0.1959402103874402, 1.396204731389063 ], "position_mm": [ -210.58510216473059, 195.9402103874402, 1396.204731389063 ], "direction": [ 0.30323532223701477, -0.29429134726524353, -0.9063338041305542 ] } ], "markers": [ { "marker_id": 44, "position_m": [ 0.23718343374000755, -0.16982443141719436, 0.32422676092397457 ], "position_mm": [ 237.18343374000756, -169.82443141719435, 324.22676092397455 ], "link": "FingerB", "normal": [ 0.0, -0.9375276894468237, -0.34791066600565723 ] }, { "marker_id": 58, "position_m": [ 0.04876448347517325, -0.21635431892425952, -0.02713872025052952 ], "position_mm": [ 48.76448347517325, -216.35431892425953, -27.13872025052952 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.6265358459052202, -0.27652044316367413, -0.02670523739557774 ], "position_mm": [ 626.5358459052202, -276.52044316367414, -26.70523739557774 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.022917989718005207, -0.18730670602437913, -0.028844964155660468 ], "position_mm": [ -22.917989718005206, -187.30670602437914, -28.844964155660467 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.0061343649611568084, -0.2793528103371863, -0.02713488953431508 ], "position_mm": [ 6.134364961156808, -279.35281033718627, -27.134889534315082 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.506014080750902, -0.31339025759484984, -0.027796817259084908 ], "position_mm": [ 506.01408075090205, -313.39025759484986, -27.796817259084907 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.18742507985631873, -0.2764984199027222, -0.02734552799624178 ], "position_mm": [ 187.42507985631875, -276.4984199027222, -27.34552799624178 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.107119554841247, -0.19161432464515035, -0.02654962751528472 ], "position_mm": [ 107.119554841247, -191.61432464515036, -26.54962751528472 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 120, "position_m": [ 0.26245018323487507, -0.15369826198367809, 0.16516700592537048 ], "position_mm": [ 262.45018323487506, -153.6982619836781, 165.1670059253705 ], "link": "Arm2", "normal": [ 0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 215, "position_m": [ 0.25050483834474013, -0.08921194148111465, 0.0006937491077896455 ], "position_mm": [ 250.50483834474014, -89.21194148111465, 0.6937491077896455 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 229, "position_m": [ 0.13806187684799096, -0.14305387868556024, 0.08725247853889177 ], "position_mm": [ 138.06187684799096, -143.05387868556025, 87.25247853889178 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] } ] }