{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:27:28Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 25,
    "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": "f",
      "position_m": [
        0.4845048811903778,
        -0.3053365075209884,
        1.403362534392144
      ],
      "position_mm": [
        484.50488119037783,
        -305.3365075209884,
        1403.3625343921442
      ],
      "direction": [
        -0.2269427329301834,
        0.08483054488897324,
        -0.9702065587043762
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 42,
      "position_m": [
        0.2143149009850494,
        -0.08034957117986574,
        0.3458834512312247
      ],
      "position_mm": [
        214.3149009850494,
        -80.34957117986575,
        345.88345123122474
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.2673142798530595,
        -0.07756918947606353,
        0.3446812958155372
      ],
      "position_mm": [
        267.3142798530595,
        -77.56918947606353,
        344.68129581553717
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.3440928602881648,
        -0.28593538471510765,
        -0.0334534722916809
      ],
      "position_mm": [
        344.09286028816484,
        -285.93538471510766,
        -33.4534722916809
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.1666110731029005,
        -0.17480481422322378,
        -0.024966333047570326
      ],
      "position_mm": [
        166.6110731029005,
        -174.8048142232238,
        -24.966333047570327
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.48800211976186314,
        0.21076618360250204,
        -0.02166965852978277
      ],
      "position_mm": [
        488.0021197618631,
        210.76618360250205,
        -21.669658529782772
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3394276369170934,
        -0.3290746422100502,
        -0.025612430797802146
      ],
      "position_mm": [
        339.42763691709337,
        -329.07464221005023,
        -25.612430797802144
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2842369915297325,
        -0.26124070875584327,
        -0.026897021930852152
      ],
      "position_mm": [
        284.23699152973245,
        -261.2407087558433,
        -26.89702193085215
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.5006383049685973,
        0.16835477554121972,
        -0.03138826224654623
      ],
      "position_mm": [
        500.6383049685973,
        168.3547755412197,
        -31.388262246546226
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40329333921924815,
        -0.17199687848503692,
        -0.029623270232456134
      ],
      "position_mm": [
        403.29333921924814,
        -171.99687848503692,
        -29.623270232456136
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.019587090671109,
        -0.1883078556958468,
        -0.028173841656812457
      ],
      "position_mm": [
        -19.587090671109,
        -188.3078556958468,
        -28.173841656812456
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005691570818296444,
        -0.2772992652835276,
        -0.02807223795555506
      ],
      "position_mm": [
        5.6915708182964435,
        -277.29926528352763,
        -28.07223795555506
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44260731529639397,
        0.19448954147496145,
        -0.028301305507768427
      ],
      "position_mm": [
        442.60731529639395,
        194.48954147496144,
        -28.301305507768426
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 75,
      "position_m": [
        -0.02683801570279296,
        0.19199787838059262,
        -0.025997685659912863
      ],
      "position_mm": [
        -26.83801570279296,
        191.99787838059262,
        -25.997685659912865
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.31218468362125007,
        -0.159530997844137,
        -0.02496388629578691
      ],
      "position_mm": [
        312.1846836212501,
        -159.53099784413698,
        -24.96388629578691
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5062335521193655,
        -0.3152025617318235,
        -0.025746069925037755
      ],
      "position_mm": [
        506.23355211936547,
        -315.2025617318235,
        -25.746069925037755
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18654315931215765,
        -0.2764396235415105,
        -0.027747978609955055
      ],
      "position_mm": [
        186.54315931215766,
        -276.4396235415105,
        -27.747978609955055
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3699036781701868,
        -0.1863741092376879,
        -0.024307305509412385
      ],
      "position_mm": [
        369.9036781701868,
        -186.37410923768792,
        -24.307305509412384
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10446335035857443,
        -0.18999305084757556,
        -0.027504860121209226
      ],
      "position_mm": [
        104.46335035857443,
        -189.99305084757557,
        -27.504860121209227
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.269262563279923,
        -0.16195889124988322,
        0.23827081234538083
      ],
      "position_mm": [
        269.262563279923,
        -161.9588912498832,
        238.27081234538085
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.17087373809791265,
        -0.05215727291917277,
        0.09163893289637023
      ],
      "position_mm": [
        170.87373809791265,
        -52.15727291917277,
        91.63893289637024
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3518290236726506,
        -0.09112506991444654,
        0.0016482053487313858
      ],
      "position_mm": [
        351.82902367265064,
        -91.12506991444654,
        1.648205348731386
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02122510109996317,
        -0.020312849368529992,
        0.001463168936060102
      ],
      "position_mm": [
        21.22510109996317,
        -20.312849368529992,
        1.463168936060102
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.3477314332461971,
        -0.011263391164642655,
        -0.000658425973083676
      ],
      "position_mm": [
        347.73143324619707,
        -11.263391164642655,
        -0.6584259730836759
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.1659968398278468,
        -0.14168855590490426,
        0.08386938118127577
      ],
      "position_mm": [
        165.9968398278468,
        -141.68855590490426,
        83.86938118127577
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.17003220937869856,
        -0.17648293751836866,
        0.04889696656221035
      ],
      "position_mm": [
        170.03220937869855,
        -176.48293751836866,
        48.896966562210345
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    }
  ]
}