{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:24:57Z",
  "summary": {
    "num_cameras": 5,
    "num_markers": 37,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "a",
      "position_m": [
        -0.2999039553024492,
        -0.7966331104538593,
        0.8022965428228306
      ],
      "position_mm": [
        -299.90395530244916,
        -796.6331104538593,
        802.2965428228306
      ],
      "direction": [
        0.4790363907814026,
        0.655602753162384,
        -0.5837029814720154
      ]
    },
    {
      "camera_id": "b",
      "position_m": [
        0.2997741245358298,
        -0.8919452713410032,
        1.1998563182979443
      ],
      "position_mm": [
        299.7741245358298,
        -891.9452713410033,
        1199.8563182979442
      ],
      "direction": [
        0.008538469672203064,
        0.6230279803276062,
        -0.7821529507637024
      ]
    },
    {
      "camera_id": "c",
      "position_m": [
        0.30200652155301316,
        -0.9020153808807998,
        0.39842941410859795
      ],
      "position_mm": [
        302.00652155301316,
        -902.0153808807999,
        398.42941410859794
      ],
      "direction": [
        -0.10717876255512238,
        0.9495941400527954,
        -0.2945907711982727
      ]
    },
    {
      "camera_id": "d",
      "position_m": [
        0.7005523974946344,
        -0.7953874519308782,
        0.40063197730228306
      ],
      "position_mm": [
        700.5523974946344,
        -795.3874519308782,
        400.6319773022831
      ],
      "direction": [
        -0.5518289804458618,
        0.7841700911521912,
        -0.2838345468044281
      ]
    },
    {
      "camera_id": "e",
      "position_m": [
        1.2031666552274363,
        -0.9024200483733755,
        0.40396080672886847
      ],
      "position_mm": [
        1203.1666552274362,
        -902.4200483733755,
        403.9608067288685
      ],
      "direction": [
        -0.7491942644119263,
        0.6063534617424011,
        -0.26653963327407837
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 40,
      "position_m": [
        0.2942917523420266,
        -0.17765151143004218,
        0.32220280662675826
      ],
      "position_mm": [
        294.2917523420266,
        -177.65151143004218,
        322.2028066267583
      ],
      "link": "FingerA",
      "normal": [
        -0.4224220616915755,
        0.0,
        -0.9063992507699015
      ]
    },
    {
      "marker_id": 41,
      "position_m": [
        0.25896725659496156,
        -0.1427339288188915,
        0.3446127384085039
      ],
      "position_mm": [
        258.96725659496155,
        -142.73392881889148,
        344.6127384085039
      ],
      "link": "FingerA",
      "normal": [
        0.0,
        -0.9375276894468237,
        0.34791066600565723
      ]
    },
    {
      "marker_id": 44,
      "position_m": [
        0.2644350349865365,
        -0.17371984250728115,
        0.29745906011158635
      ],
      "position_mm": [
        264.4350349865365,
        -173.71984250728116,
        297.4590601115863
      ],
      "link": "FingerB",
      "normal": [
        0.0,
        -0.9375276894468237,
        -0.34791066600565723
      ]
    },
    {
      "marker_id": 45,
      "position_m": [
        0.2544837137458196,
        -0.19490683125531635,
        0.33869394870642194
      ],
      "position_mm": [
        254.48371374581959,
        -194.90683125531635,
        338.69394870642196
      ],
      "link": "FingerB",
      "normal": [
        -0.8830215713766957,
        -0.3090575499818435,
        -0.3532086285506783
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16752855878644712,
        -0.17372506944922406,
        -0.02729441348870137
      ],
      "position_mm": [
        167.52855878644712,
        -173.72506944922407,
        -27.29441348870137
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3401983426044902,
        -0.3271004441256057,
        -0.027884950375789946
      ],
      "position_mm": [
        340.1983426044902,
        -327.1004441256057,
        -27.884950375789945
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2848326073149527,
        -0.2604640711914719,
        -0.02789136309798777
      ],
      "position_mm": [
        284.83260731495267,
        -260.46407119147193,
        -27.89136309798777
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.04752975487913658,
        -0.2155037953807458,
        -0.027652799818299913
      ],
      "position_mm": [
        47.52975487913658,
        -215.5037953807458,
        -27.65279981829991
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.6245253500663372,
        -0.27659667696702633,
        -0.028124907485730728
      ],
      "position_mm": [
        624.5253500663373,
        -276.5966769670263,
        -28.124907485730727
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40395401794381447,
        -0.1735449660698573,
        -0.02751813755958374
      ],
      "position_mm": [
        403.95401794381445,
        -173.5449660698573,
        -27.51813755958374
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.775235405320363,
        -0.23580985622152653,
        -0.027729928127808324
      ],
      "position_mm": [
        775.2354053203629,
        -235.80985622152653,
        -27.729928127808325
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.023078553416901456,
        -0.18399389651166045,
        -0.03023135263410321
      ],
      "position_mm": [
        -23.078553416901457,
        -183.99389651166047,
        -30.23135263410321
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.007826715397615695,
        -0.28035103378029747,
        -0.02549665310596605
      ],
      "position_mm": [
        7.826715397615695,
        -280.3510337802975,
        -25.49665310596605
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3122312054794221,
        -0.15944312522960133,
        -0.027056555411789595
      ],
      "position_mm": [
        312.2312054794221,
        -159.44312522960132,
        -27.056555411789596
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5063690324271577,
        -0.3141641614955073,
        -0.027091616339155192
      ],
      "position_mm": [
        506.3690324271577,
        -314.1641614955073,
        -27.09161633915519
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.36201339018931983,
        0.29441714075820136,
        -0.02688335616615304
      ],
      "position_mm": [
        362.0133901893198,
        294.41714075820136,
        -26.88335616615304
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.646490151952103,
        -0.1851493700384274,
        -0.028146116347455046
      ],
      "position_mm": [
        646.490151952103,
        -185.1493700384274,
        -28.146116347455045
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18651643533662207,
        -0.2755766649331652,
        -0.02791038381419039
      ],
      "position_mm": [
        186.51643533662207,
        -275.5766649331652,
        -27.91038381419039
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3697202647911769,
        -0.18674489580040074,
        -0.025609774089879477
      ],
      "position_mm": [
        369.72026479117693,
        -186.74489580040074,
        -25.609774089879476
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6527069804838014,
        -0.22307350788236024,
        -0.027473572050530394
      ],
      "position_mm": [
        652.7069804838014,
        -223.07350788236025,
        -27.473572050530393
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10567746778987597,
        -0.1902733101587272,
        -0.027575299915667692
      ],
      "position_mm": [
        105.67746778987596,
        -190.2733101587272,
        -27.575299915667692
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 105,
      "position_m": [
        0.5229152646469479,
        -0.26622667774990727,
        -0.02805851372357762
      ],
      "position_mm": [
        522.9152646469479,
        -266.22667774990725,
        -28.058513723577622
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 114,
      "position_m": [
        0.2872242029754645,
        -0.18426262682290234,
        0.23576235821107003
      ],
      "position_mm": [
        287.22420297546455,
        -184.26262682290235,
        235.76235821107002
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 115,
      "position_m": [
        0.23965940774509423,
        -0.17081529957864885,
        0.23843847014264588
      ],
      "position_mm": [
        239.65940774509423,
        -170.81529957864885,
        238.43847014264588
      ],
      "link": "Arm2",
      "normal": [
        -0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 120,
      "position_m": [
        0.3083139259228612,
        -0.2382137324577383,
        0.19645851682472906
      ],
      "position_mm": [
        308.31392592286124,
        -238.2137324577383,
        196.45851682472906
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.15586220952458352,
        -0.056123103161828315,
        0.09318423607605286
      ],
      "position_mm": [
        155.8622095245835,
        -56.12310316182832,
        93.18423607605285
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6508277626258266,
        -0.010596409520616395,
        0.0004850724036276618
      ],
      "position_mm": [
        650.8277626258266,
        -10.596409520616394,
        0.4850724036276618
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3536939502714289,
        -0.09334853694985461,
        0.002466265845423108
      ],
      "position_mm": [
        353.6939502714289,
        -93.3485369498546,
        2.466265845423108
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02205010588083891,
        -0.01710269385909609,
        -0.0006167158544109865
      ],
      "position_mm": [
        22.05010588083891,
        -17.102693859096092,
        -0.6167158544109865
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.3488664239149622,
        -0.013499782188815174,
        0.0015325056133871171
      ],
      "position_mm": [
        348.8664239149622,
        -13.499782188815173,
        1.532505613387117
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6463820848105611,
        -0.09047278245436692,
        0.0004341230468939417
      ],
      "position_mm": [
        646.3820848105612,
        -90.47278245436692,
        0.4341230468939417
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.15849245614646962,
        -0.14584761828846804,
        0.08665763245820862
      ],
      "position_mm": [
        158.4924561464696,
        -145.84761828846803,
        86.65763245820862
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 232,
      "position_m": [
        0.23280325794883383,
        -0.1014925224149516,
        0.014562782479664966
      ],
      "position_mm": [
        232.80325794883382,
        -101.49252241495161,
        14.562782479664966
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.16080032314998177,
        -0.17519064409007862,
        0.04686217069432687
      ],
      "position_mm": [
        160.80032314998178,
        -175.19064409007862,
        46.86217069432687
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 244,
      "position_m": [
        0.2808597004883848,
        -0.12621543288037387,
        0.04237438628091834
      ],
      "position_mm": [
        280.8597004883848,
        -126.21543288037387,
        42.37438628091834
      ],
      "link": "Ellbow",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.2343146041762537,
        -0.1258857105837135,
        0.02553836806362762
      ],
      "position_mm": [
        234.31460417625368,
        -125.8857105837135,
        25.53836806362762
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.2104700220422608,
        -0.15094198455903107,
        0.04002782773187414
      ],
      "position_mm": [
        210.4700220422608,
        -150.94198455903108,
        40.02782773187414
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}