{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:20:23Z",
  "summary": {
    "num_cameras": 5,
    "num_markers": 31,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "a",
      "position_m": [
        -0.3008120456617256,
        -0.7967324976921262,
        0.8035603940327218
      ],
      "position_mm": [
        -300.8120456617256,
        -796.7324976921261,
        803.5603940327219
      ],
      "direction": [
        0.478861004114151,
        0.6553303003311157,
        -0.5841526389122009
      ]
    },
    {
      "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": "c",
      "position_m": [
        0.31352477320154787,
        -0.900364134663362,
        0.395486087669763
      ],
      "position_mm": [
        313.5247732015479,
        -900.3641346633619,
        395.48608766976304
      ],
      "direction": [
        -0.12002504616975784,
        0.9488678574562073,
        -0.2919653058052063
      ]
    },
    {
      "camera_id": "f",
      "position_m": [
        0.4840985781070297,
        -0.3107642971811879,
        1.4024590280841054
      ],
      "position_mm": [
        484.0985781070297,
        -310.76429718118794,
        1402.4590280841053
      ],
      "direction": [
        -0.22673296928405762,
        0.08821365982294083,
        -0.9699538946151733
      ]
    },
    {
      "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": 40,
      "position_m": [
        0.2736138109723925,
        -0.14469743902281243,
        0.35225377130166674
      ],
      "position_mm": [
        273.6138109723925,
        -144.69743902281243,
        352.25377130166675
      ],
      "link": "FingerA",
      "normal": [
        -0.4224220616915755,
        0.0,
        -0.9063992507699015
      ]
    },
    {
      "marker_id": 44,
      "position_m": [
        0.23772237071329072,
        -0.17042987693182463,
        0.32593846218561967
      ],
      "position_mm": [
        237.72237071329073,
        -170.42987693182462,
        325.9384621856197
      ],
      "link": "FingerB",
      "normal": [
        0.0,
        -0.9375276894468237,
        -0.34791066600565723
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.34527624447068156,
        -0.28501487690218885,
        -0.03160848605728249
      ],
      "position_mm": [
        345.27624447068155,
        -285.01487690218886,
        -31.60848605728249
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.1679869213898658,
        -0.17431334427026263,
        -0.02701803536229818
      ],
      "position_mm": [
        167.98692138986578,
        -174.31334427026263,
        -27.018035362298182
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.34008216465826285,
        -0.32846971176225853,
        -0.02622919801914117
      ],
      "position_mm": [
        340.08216465826285,
        -328.46971176225856,
        -26.22919801914117
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2849637310232282,
        -0.26081943945311853,
        -0.02806906459070152
      ],
      "position_mm": [
        284.9637310232282,
        -260.81943945311855,
        -28.06906459070152
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.049689343950900064,
        -0.21869385895748708,
        -0.02487772051436016
      ],
      "position_mm": [
        49.68934395090007,
        -218.6938589574871,
        -24.87772051436016
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.6265358459060137,
        -0.27652044316357194,
        -0.026705237397329273
      ],
      "position_mm": [
        626.5358459060137,
        -276.52044316357194,
        -26.705237397329274
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40390234868223923,
        -0.17022599963306526,
        -0.029923162737635588
      ],
      "position_mm": [
        403.9023486822392,
        -170.22599963306524,
        -29.923162737635586
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.021028642314276917,
        -0.18748164971260214,
        -0.02801010473785849
      ],
      "position_mm": [
        -21.02864231427692,
        -187.48164971260215,
        -28.01010473785849
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.004841424100479262,
        -0.27994163601027877,
        -0.029726755656886827
      ],
      "position_mm": [
        4.841424100479261,
        -279.9416360102788,
        -29.726755656886827
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.31246033587197797,
        -0.15866174826160656,
        -0.028030031579065386
      ],
      "position_mm": [
        312.460335871978,
        -158.66174826160656,
        -28.030031579065387
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 82,
      "position_m": [
        0.2181443720306789,
        0.29696824748018913,
        -0.028246244823344525
      ],
      "position_mm": [
        218.1443720306789,
        296.9682474801891,
        -28.246244823344526
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 83,
      "position_m": [
        0.04474497275583554,
        0.34166359373657895,
        -0.02774746888765951
      ],
      "position_mm": [
        44.74497275583554,
        341.66359373657895,
        -27.747468887659508
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5060346120746566,
        -0.31359755689699353,
        -0.027110573861126537
      ],
      "position_mm": [
        506.0346120746566,
        -313.5975568969935,
        -27.110573861126536
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6458427669179976,
        -0.18755150408987137,
        -0.02629364691206183
      ],
      "position_mm": [
        645.8427669179976,
        -187.55150408987137,
        -26.293646912061828
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18669327561623747,
        -0.27621225953329703,
        -0.028179172204999017
      ],
      "position_mm": [
        186.69327561623746,
        -276.212259533297,
        -28.179172204999016
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3704087661144628,
        -0.18498135710440658,
        -0.026715687333078993
      ],
      "position_mm": [
        370.40876611446276,
        -184.98135710440658,
        -26.715687333078993
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 97,
      "position_m": [
        0.3043793252027631,
        -0.3601685150856148,
        -0.02421399939691149
      ],
      "position_mm": [
        304.37932520276314,
        -360.16851508561484,
        -24.21399939691149
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10577911253979165,
        -0.18939415207884355,
        -0.028510026231287976
      ],
      "position_mm": [
        105.77911253979165,
        -189.39415207884355,
        -28.510026231287977
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 115,
      "position_m": [
        0.2144905803974887,
        -0.15808516595946415,
        0.23516874230999252
      ],
      "position_mm": [
        214.49058039748869,
        -158.08516595946415,
        235.16874230999252
      ],
      "link": "Arm2",
      "normal": [
        -0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 120,
      "position_m": [
        0.2635384421804508,
        -0.154773504489058,
        0.16557286388067727
      ],
      "position_mm": [
        263.53844218045083,
        -154.77350448905798,
        165.57286388067726
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.1396270364378627,
        -0.0524899250397523,
        0.09134345921232205
      ],
      "position_mm": [
        139.6270364378627,
        -52.4899250397523,
        91.34345921232205
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3519547245295015,
        -0.09109356522907473,
        0.0008487372861281935
      ],
      "position_mm": [
        351.9547245295015,
        -91.09356522907473,
        0.8487372861281935
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02107942943506401,
        -0.01971182351463657,
        0.001084469380551342
      ],
      "position_mm": [
        21.07942943506401,
        -19.71182351463657,
        1.084469380551342
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.3476372484642664,
        -0.011214553196923636,
        1.19739241498694e-05
      ],
      "position_mm": [
        347.6372484642664,
        -11.214553196923635,
        0.0119739241498694
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.25020705615055344,
        -0.08961672193992853,
        -0.0001632780465076588
      ],
      "position_mm": [
        250.20705615055346,
        -89.61672193992854,
        -0.1632780465076588
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.1378489665845727,
        -0.14225667542102993,
        0.08511736211727833
      ],
      "position_mm": [
        137.8489665845727,
        -142.25667542102994,
        85.11736211727833
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.1411966467540963,
        -0.17158671156506314,
        0.04538624978131819
      ],
      "position_mm": [
        141.1966467540963,
        -171.58671156506313,
        45.386249781318185
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.23285246896106937,
        -0.17637971167016256,
        0.05181127705394777
      ],
      "position_mm": [
        232.85246896106938,
        -176.37971167016255,
        51.81127705394777
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.1957280985250745,
        -0.17141967300190908,
        0.04996411082850516
      ],
      "position_mm": [
        195.7280985250745,
        -171.41967300190908,
        49.964110828505156
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}