{
  "schema_version": "1.2",
  "stage": "initial_triangulation",
  "created_utc": "2026-06-03T04:25:22Z",
  "summary": {
    "num_cameras": 5,
    "num_markers": 42,
    "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": "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
      ]
    },
    {
      "camera_id": "f",
      "position_m": [
        0.48527535699969704,
        -0.3052028540305418,
        1.4031193543203273
      ],
      "position_mm": [
        485.275356999697,
        -305.2028540305418,
        1403.1193543203274
      ],
      "direction": [
        -0.22739066183567047,
        0.08463967591524124,
        -0.9701183438301086
      ]
    },
    {
      "camera_id": "g",
      "position_m": [
        -0.2072035888495123,
        0.2035164095056965,
        1.4022641029137521
      ],
      "position_mm": [
        -207.2035888495123,
        203.5164095056965,
        1402.2641029137521
      ],
      "direction": [
        0.30012577772140503,
        -0.29805290699005127,
        -0.906139612197876
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 41,
      "position_m": [
        0.2575470165705916,
        -0.1431152720875023,
        0.34488869184697035
      ],
      "position_mm": [
        257.5470165705916,
        -143.1152720875023,
        344.88869184697035
      ],
      "link": "FingerA",
      "normal": [
        0.0,
        -0.9375276894468237,
        0.34791066600565723
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.24294491454733885,
        -0.17512375577068542,
        0.3471663396385901
      ],
      "position_mm": [
        242.94491454733884,
        -175.12375577068542,
        347.1663396385901
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 44,
      "position_m": [
        0.26475145613472706,
        -0.17442652904986164,
        0.2984367312403441
      ],
      "position_mm": [
        264.75145613472705,
        -174.42652904986164,
        298.4367312403441
      ],
      "link": "FingerB",
      "normal": [
        0.0,
        -0.9375276894468237,
        -0.34791066600565723
      ]
    },
    {
      "marker_id": 46,
      "position_m": [
        0.5350165400132815,
        0.1826418160214661,
        -0.028652005617183406
      ],
      "position_mm": [
        535.0165400132814,
        182.6418160214661,
        -28.652005617183406
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.34367054802444236,
        -0.28830294759784697,
        -0.02738273197870817
      ],
      "position_mm": [
        343.6705480244424,
        -288.302947597847,
        -27.382731978708172
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 48,
      "position_m": [
        0.6872357590623445,
        -0.3183110997000704,
        -0.02736752709281734
      ],
      "position_mm": [
        687.2357590623444,
        -318.3110997000704,
        -27.36752709281734
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16788029830784462,
        -0.17260811918284022,
        -0.027712664532249166
      ],
      "position_mm": [
        167.8802983078446,
        -172.60811918284023,
        -27.712664532249168
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.48841828099638046,
        0.21479756732665914,
        -0.02807809684215796
      ],
      "position_mm": [
        488.4182809963805,
        214.79756732665913,
        -28.07809684215796
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.33962409402890337,
        -0.32758662047158177,
        -0.026885125172550716
      ],
      "position_mm": [
        339.62409402890336,
        -327.5866204715818,
        -26.885125172550715
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2842367732886842,
        -0.2607893627359147,
        -0.027073617209115372
      ],
      "position_mm": [
        284.23677328868416,
        -260.78936273591466,
        -27.073617209115373
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.5007011174190135,
        0.16527222732050675,
        -0.02843007846286294
      ],
      "position_mm": [
        500.7011174190135,
        165.27222732050674,
        -28.43007846286294
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.04726093939574952,
        -0.21658413840901972,
        -0.027393140196605412
      ],
      "position_mm": [
        47.26093939574952,
        -216.58413840901972,
        -27.39314019660541
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.6277769659644352,
        -0.27660381249787225,
        -0.027238540836524116
      ],
      "position_mm": [
        627.7769659644352,
        -276.60381249787224,
        -27.238540836524116
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40170836731455506,
        -0.17301076763104872,
        -0.027334894653962646
      ],
      "position_mm": [
        401.70836731455506,
        -173.01076763104874,
        -27.334894653962646
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7754141876912736,
        -0.2362452054670934,
        -0.027519992057781585
      ],
      "position_mm": [
        775.4141876912736,
        -236.2452054670934,
        -27.519992057781586
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.018958215114753624,
        -0.18966003830247546,
        -0.027297354215528025
      ],
      "position_mm": [
        -18.958215114753624,
        -189.66003830247547,
        -27.297354215528024
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 66,
      "position_m": [
        0.20997090102533142,
        -0.3637003310532822,
        -0.0269273631080352
      ],
      "position_mm": [
        209.97090102533141,
        -363.7003310532822,
        -26.927363108035202
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005982539616939961,
        -0.2777748189088628,
        -0.027242956985023666
      ],
      "position_mm": [
        5.982539616939961,
        -277.7748189088628,
        -27.242956985023664
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44179430178025286,
        0.19348945891129138,
        -0.02824425070959826
      ],
      "position_mm": [
        441.79430178025285,
        193.48945891129136,
        -28.244250709598262
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3117171972186684,
        -0.1597610804563439,
        -0.02658341002139591
      ],
      "position_mm": [
        311.71719721866845,
        -159.7610804563439,
        -26.58341002139591
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 82,
      "position_m": [
        0.2183585749696979,
        0.29642239298548756,
        -0.02810555557053296
      ],
      "position_mm": [
        218.3585749696979,
        296.42239298548753,
        -28.105555570532957
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5063764674586347,
        -0.31390085463297274,
        -0.02739638071676767
      ],
      "position_mm": [
        506.37646745863475,
        -313.9008546329727,
        -27.39638071676767
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.36174050522576995,
        0.2946193886314375,
        -0.026903579877753443
      ],
      "position_mm": [
        361.74050522576994,
        294.6193886314375,
        -26.903579877753444
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6468836624910508,
        -0.18710019604996667,
        -0.02730054589433841
      ],
      "position_mm": [
        646.8836624910508,
        -187.10019604996666,
        -27.300545894338413
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18662967667994804,
        -0.2767471338964133,
        -0.02698986477063397
      ],
      "position_mm": [
        186.62967667994803,
        -276.7471338964133,
        -26.989864770633968
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3715991907744337,
        -0.1841555381829345,
        -0.0275817686590283
      ],
      "position_mm": [
        371.5991907744337,
        -184.15553818293452,
        -27.5817686590283
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 97,
      "position_m": [
        0.306059775231544,
        -0.35841123626853655,
        -0.02667915689185217
      ],
      "position_mm": [
        306.059775231544,
        -358.4112362685365,
        -26.67915689185217
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6513066038092712,
        -0.22358098520544847,
        -0.02751001353499555
      ],
      "position_mm": [
        651.3066038092712,
        -223.58098520544848,
        -27.51001353499555
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10464469089734606,
        -0.19083567382723052,
        -0.027435596834548295
      ],
      "position_mm": [
        104.64469089734605,
        -190.83567382723052,
        -27.435596834548296
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 114,
      "position_m": [
        0.283357346485644,
        -0.14933345731737963,
        0.23699714522000448
      ],
      "position_mm": [
        283.357346485644,
        -149.3334573173796,
        236.99714522000448
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 115,
      "position_m": [
        0.23221154119022705,
        -0.16146140824613575,
        0.23626440653553385
      ],
      "position_mm": [
        232.21154119022705,
        -161.46140824613576,
        236.26440653553385
      ],
      "link": "Arm2",
      "normal": [
        -0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 120,
      "position_m": [
        0.28253517627804803,
        -0.15424428100223417,
        0.1667553172756857
      ],
      "position_mm": [
        282.535176278048,
        -154.24428100223417,
        166.7553172756857
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.16015622969152732,
        -0.05277602832110981,
        0.0910171625416362
      ],
      "position_mm": [
        160.15622969152733,
        -52.776028321109806,
        91.01716254163621
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6509996296677141,
        -0.010328613991928769,
        0.0002571903287629399
      ],
      "position_mm": [
        650.9996296677141,
        -10.32861399192877,
        0.2571903287629399
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3523056012562559,
        -0.08884799466505848,
        0.0007034664233067212
      ],
      "position_mm": [
        352.3056012562559,
        -88.84799466505848,
        0.7034664233067212
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02171835086268251,
        -0.020340157943394,
        0.0010696268694305184
      ],
      "position_mm": [
        21.71835086268251,
        -20.340157943394,
        1.0696268694305184
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34808759794275085,
        -0.012214160444563213,
        0.0009418432019538438
      ],
      "position_mm": [
        348.08759794275085,
        -12.214160444563213,
        0.9418432019538437
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6476445385343588,
        -0.08934670082743063,
        -0.000988216004373905
      ],
      "position_mm": [
        647.6445385343587,
        -89.34670082743062,
        -0.988216004373905
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.16019854982480608,
        -0.17655427788156608,
        0.0473787734524942
      ],
      "position_mm": [
        160.1985498248061,
        -176.55427788156607,
        47.3787734524942
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 244,
      "position_m": [
        0.28652226523233837,
        -0.1414249803086395,
        0.049124004936045414
      ],
      "position_mm": [
        286.5222652323384,
        -141.4249803086395,
        49.12400493604542
      ],
      "link": "Ellbow",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.2497308031523265,
        -0.17688305903124898,
        0.052970281828880784
      ],
      "position_mm": [
        249.7308031523265,
        -176.883059031249,
        52.970281828880786
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.2185854451643018,
        -0.17922438955197884,
        0.05485691163680766
      ],
      "position_mm": [
        218.5854451643018,
        -179.22438955197885,
        54.856911636807666
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}