{ "schema_version": "1.2", "created_utc": "2026-06-03T04:27:55Z", "summary": { "num_cameras": 3, "num_markers": 20, "num_constraints": 94 }, "cameras": [ { "camera_id": "a", "position_m": [ -0.3014392781131834, -0.7976593540300962, 0.8090873924075274 ], "position_mm": [ -301.4392781131834, -797.6593540300962, 809.0873924075273 ], "direction": [ 0.478444904088974, 0.6539158821105957, -0.5860755443572998 ] }, { "camera_id": "b", "position_m": [ 0.3044963064856628, -0.8948174327872729, 1.2012475383268955 ], "position_mm": [ 304.4963064856628, -894.8174327872729, 1201.2475383268954 ], "direction": [ 0.005024135112762451, 0.6242465972900391, -0.7812111973762512 ] }, { "camera_id": "d", "position_m": [ 0.7029130020015959, -0.7907698766672966, 0.4011397354766348 ], "position_mm": [ 702.9130020015959, -790.7698766672966, 401.13973547663477 ], "direction": [ -0.5559978485107422, 0.7807162404060364, -0.28521665930747986 ] } ], "markers": [ { "marker_id": 42, "position_m": [ 0.21665997711626775, -0.07679273732779912, 0.3433391226616617 ], "position_mm": [ 216.65997711626775, -76.79273732779912, 343.33912266166175 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 43, "position_m": [ 0.26932732220460087, -0.07406368090419042, 0.34007828587178585 ], "position_mm": [ 269.3273222046009, -74.06368090419042, 340.07828587178585 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 51, "position_m": [ 0.1670132020048427, -0.17350701690144146, -0.027219315022529375 ], "position_mm": [ 167.0132020048427, -173.50701690144146, -27.219315022529376 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.33956349501690597, -0.3286898978373521, -0.026205366290119655 ], "position_mm": [ 339.56349501690596, -328.6898978373521, -26.205366290119656 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.28451704334026623, -0.26131805328006363, -0.0270489322499242 ], "position_mm": [ 284.51704334026624, -261.3180532800636, -27.0489322499242 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4031055108586207, -0.17206683043277224, -0.02915909690933688 ], "position_mm": [ 403.1055108586207, -172.06683043277224, -29.159096909336878 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.005610375817925187, -0.27720896329888545, -0.0279270813283229 ], "position_mm": [ 5.610375817925187, -277.20896329888546, -27.9270813283229 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.44178503450444684, 0.19369474731480804, -0.02745585424770893 ], "position_mm": [ 441.78503450444686, 193.69474731480804, -27.45585424770893 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5062335521121674, -0.31520256173544065, -0.02574606991468615 ], "position_mm": [ 506.2335521121674, -315.20256173544067, -25.74606991468615 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.18647696177069098, -0.27526763483733574, -0.027996499413019908 ], "position_mm": [ 186.476961770691, -275.2676348373357, -27.996499413019908 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.3697777021853077, -0.18668261916741746, -0.024112126567121587 ], "position_mm": [ 369.7777021853077, -186.68261916741747, -24.112126567121585 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10515840926215031, -0.19003985683488306, -0.027575689904097967 ], "position_mm": [ 105.15840926215031, -190.03985683488307, -27.575689904097967 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 113, "position_m": [ 0.27093210433804465, -0.15980582165901702, 0.23476416399257222 ], "position_mm": [ 270.93210433804467, -159.80582165901703, 234.7641639925722 ], "link": "Arm2", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 198, "position_m": [ 0.1710685182201895, -0.051564726652668987, 0.09110437977201137 ], "position_mm": [ 171.0685182201895, -51.56472665266899, 91.10437977201137 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.35312090854994116, -0.09083454921932925, 0.002442003000688323 ], "position_mm": [ 353.12090854994113, -90.83454921932925, 2.442003000688323 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.021434617497773884, -0.018449642675056995, -0.00012618530894900357 ], "position_mm": [ 21.434617497773885, -18.449642675056996, -0.12618530894900357 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.34734709240393824, -0.011065208761079776, 0.0005674069379436774 ], "position_mm": [ 347.34709240393823, -11.065208761079775, 0.5674069379436774 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 243, "position_m": [ 0.17074862004263233, -0.17556839042569305, 0.046359805914537804 ], "position_mm": [ 170.74862004263233, -175.56839042569305, 46.3598059145378 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.26266031917176486, -0.17930265194762093, 0.054740058326164215 ], "position_mm": [ 262.66031917176485, -179.30265194762094, 54.74005832616422 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 248, "position_m": [ 0.22542061152066922, -0.17534107953410752, 0.052801777196170525 ], "position_mm": [ 225.4206115206692, -175.3410795341075, 52.80177719617053 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }