{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:25:06Z",
  "summary": {
    "num_cameras": 5,
    "num_markers": 40,
    "num_constraints": 94
  },
  "cameras": [
    {
      "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": "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": [
        0.2569037205898175,
        -0.1442979624701644,
        0.3460183414146526
      ],
      "position_mm": [
        256.90372058981745,
        -144.2979624701644,
        346.0183414146526
      ],
      "link": "FingerA",
      "normal": [
        0.0,
        -0.9375276894468237,
        0.34791066600565723
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.24286015686687254,
        -0.17523593501019039,
        0.3471561175168418
      ],
      "position_mm": [
        242.86015686687253,
        -175.2359350101904,
        347.1561175168418
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 44,
      "position_m": [
        0.2646580191112209,
        -0.17424676054932525,
        0.29821586961979674
      ],
      "position_mm": [
        264.6580191112209,
        -174.24676054932524,
        298.21586961979676
      ],
      "link": "FingerB",
      "normal": [
        0.0,
        -0.9375276894468237,
        -0.34791066600565723
      ]
    },
    {
      "marker_id": 46,
      "position_m": [
        0.5367408105201845,
        0.18362439897471297,
        -0.03281507527031749
      ],
      "position_mm": [
        536.7408105201845,
        183.62439897471296,
        -32.81507527031749
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 48,
      "position_m": [
        0.687587737360953,
        -0.3186269921086401,
        -0.027189584241678017
      ],
      "position_mm": [
        687.587737360953,
        -318.6269921086401,
        -27.189584241678016
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.4878774517103818,
        0.21121955389567232,
        -0.02443876310401918
      ],
      "position_mm": [
        487.8774517103818,
        211.2195538956723,
        -24.43876310401918
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.34052242725691556,
        -0.3274220836171392,
        -0.027206510714738192
      ],
      "position_mm": [
        340.52242725691553,
        -327.4220836171392,
        -27.206510714738194
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.28469880742307674,
        -0.26106422686026554,
        -0.027849546433490194
      ],
      "position_mm": [
        284.69880742307674,
        -261.06422686026553,
        -27.849546433490193
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.4989496526219475,
        0.16735535972935145,
        -0.026927913630154475
      ],
      "position_mm": [
        498.9496526219475,
        167.35535972935145,
        -26.927913630154475
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.048920364541785596,
        -0.2180684666815907,
        -0.02567960193102733
      ],
      "position_mm": [
        48.920364541785595,
        -218.06846668159068,
        -25.67960193102733
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.6250502532158613,
        -0.27674538008302685,
        -0.027663340657091588
      ],
      "position_mm": [
        625.0502532158613,
        -276.7453800830269,
        -27.663340657091588
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4044162899535854,
        -0.1739236883724563,
        -0.026947045303519285
      ],
      "position_mm": [
        404.4162899535854,
        -173.9236883724563,
        -26.947045303519285
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7753055940436036,
        -0.23603912876001062,
        -0.027574675482218383
      ],
      "position_mm": [
        775.3055940436036,
        -236.0391287600106,
        -27.57467548221838
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.02169821381964555,
        -0.18659588043884168,
        -0.028424383753146147
      ],
      "position_mm": [
        -21.69821381964555,
        -186.59588043884168,
        -28.42438375314615
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 66,
      "position_m": [
        0.2109220353584407,
        -0.3652831767956377,
        -0.02940484657005588
      ],
      "position_mm": [
        210.9220353584407,
        -365.2831767956377,
        -29.40484657005588
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.00488927855770727,
        -0.28004072871704916,
        -0.02829569243266768
      ],
      "position_mm": [
        4.88927855770727,
        -280.04072871704915,
        -28.295692432667682
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 71,
      "position_m": [
        0.7506359475860049,
        -0.2854728371580304,
        -0.02589561392888752
      ],
      "position_mm": [
        750.6359475860049,
        -285.4728371580304,
        -25.89561392888752
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.4426424279504851,
        0.19389036965799675,
        -0.029243755299063697
      ],
      "position_mm": [
        442.64242795048506,
        193.89036965799676,
        -29.243755299063697
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3126301259374806,
        -0.1587761967158746,
        -0.027743383221882717
      ],
      "position_mm": [
        312.63012593748056,
        -158.7761967158746,
        -27.743383221882716
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5064456337999872,
        -0.31433648691263777,
        -0.027106684630302108
      ],
      "position_mm": [
        506.4456337999872,
        -314.3364869126378,
        -27.10668463030211
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.36264341829541896,
        0.2948214138443343,
        -0.02813824633076783
      ],
      "position_mm": [
        362.64341829541894,
        294.8214138443343,
        -28.138246330767828
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6460291829946796,
        -0.18472039100198076,
        -0.028126023336156086
      ],
      "position_mm": [
        646.0291829946796,
        -184.72039100198077,
        -28.126023336156084
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18672181544105573,
        -0.27626139839779223,
        -0.028339129824305136
      ],
      "position_mm": [
        186.72181544105572,
        -276.2613983977922,
        -28.339129824305136
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.36990841137291536,
        -0.18651024968300858,
        -0.026165306813483447
      ],
      "position_mm": [
        369.90841137291534,
        -186.5102496830086,
        -26.165306813483447
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 97,
      "position_m": [
        0.3054296303323655,
        -0.3597955423408632,
        -0.02921267628867147
      ],
      "position_mm": [
        305.4296303323655,
        -359.7955423408632,
        -29.212676288671467
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.652148596338005,
        -0.22266187894674588,
        -0.027544631510188974
      ],
      "position_mm": [
        652.1485963380051,
        -222.66187894674587,
        -27.544631510188974
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10576006709514686,
        -0.19009420715563852,
        -0.02778129557781402
      ],
      "position_mm": [
        105.76006709514687,
        -190.09420715563851,
        -27.78129557781402
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 105,
      "position_m": [
        0.5234230421641527,
        -0.26654485795004446,
        -0.027771867629496207
      ],
      "position_mm": [
        523.4230421641527,
        -266.54485795004445,
        -27.771867629496207
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 114,
      "position_m": [
        0.2831761474622563,
        -0.14894588835975253,
        0.2365001676685629
      ],
      "position_mm": [
        283.17614746225627,
        -148.94588835975253,
        236.5001676685629
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 120,
      "position_m": [
        0.2825741604113684,
        -0.15454347475534524,
        0.16672691051732313
      ],
      "position_mm": [
        282.5741604113684,
        -154.54347475534524,
        166.72691051732315
      ],
      "link": "Arm2",
      "normal": [
        0.7071067811865475,
        0.0,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.16081641028169474,
        -0.0532703809929398,
        0.09113364752562
      ],
      "position_mm": [
        160.81641028169474,
        -53.2703809929398,
        91.13364752562
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6507333223035796,
        -0.009915552456093034,
        0.00037943164263230496
      ],
      "position_mm": [
        650.7333223035796,
        -9.915552456093033,
        0.37943164263230494
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35253639790357544,
        -0.09110375949489595,
        0.00031337842708509614
      ],
      "position_mm": [
        352.53639790357545,
        -91.10375949489595,
        0.3133784270850961
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.022042455071462574,
        -0.019275550091462177,
        0.0008495092770942316
      ],
      "position_mm": [
        22.042455071462573,
        -19.275550091462176,
        0.8495092770942316
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34858222507410674,
        -0.011202063743597519,
        3.0115434715400323e-05
      ],
      "position_mm": [
        348.58222507410676,
        -11.202063743597519,
        0.030115434715400322
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6468255940591421,
        -0.08981700206805592,
        -0.00031936207106594345
      ],
      "position_mm": [
        646.8255940591421,
        -89.81700206805591,
        -0.31936207106594344
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.15786391775018915,
        -0.1430487319918307,
        0.08555395211440252
      ],
      "position_mm": [
        157.86391775018916,
        -143.04873199183072,
        85.55395211440252
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.16040707413829466,
        -0.17333619539956988,
        0.046487125010846245
      ],
      "position_mm": [
        160.40707413829466,
        -173.33619539956987,
        46.48712501084624
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.2520618578277961,
        -0.18141824174833598,
        0.05452149439283959
      ],
      "position_mm": [
        252.0618578277961,
        -181.418241748336,
        54.52149439283959
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.21542195396021577,
        -0.1738853308718547,
        0.051873029285811646
      ],
      "position_mm": [
        215.42195396021577,
        -173.8853308718547,
        51.87302928581165
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}