{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:28:22Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 10,
    "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": "c",
      "position_m": [
        0.3287264582676568,
        -0.9186429714357892,
        0.3564346556463644
      ],
      "position_mm": [
        328.72645826765677,
        -918.6429714357893,
        356.4346556463644
      ],
      "direction": [
        -0.13607342541217804,
        0.9607956409454346,
        -0.24156945943832397
      ]
    },
    {
      "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": 43,
      "position_m": [
        0.2690330019575988,
        -0.07420143739619722,
        0.3400658087940308
      ],
      "position_mm": [
        269.0330019575988,
        -74.20143739619722,
        340.06580879403083
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16712389190015997,
        -0.17325132449783853,
        -0.027307287086356522
      ],
      "position_mm": [
        167.12389190015998,
        -173.25132449783854,
        -27.30728708635652
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40385912182721656,
        -0.1696296403707854,
        -0.030210224584124694
      ],
      "position_mm": [
        403.85912182721654,
        -169.6296403707854,
        -30.210224584124695
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18646375745703306,
        -0.2750368139598187,
        -0.027896766956004446
      ],
      "position_mm": [
        186.46375745703307,
        -275.0368139598187,
        -27.896766956004445
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.37148680369673864,
        -0.18664872864594603,
        -0.026714909606175622
      ],
      "position_mm": [
        371.48680369673866,
        -186.64872864594602,
        -26.71490960617562
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10530446021600964,
        -0.18991819075572441,
        -0.02752481371840619
      ],
      "position_mm": [
        105.30446021600964,
        -189.91819075572442,
        -27.52481371840619
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.2741422894834701,
        -0.16183492940244526,
        0.23387460797461693
      ],
      "position_mm": [
        274.1422894834701,
        -161.83492940244525,
        233.87460797461694
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.17206090361715953,
        -0.17596498913394745,
        0.04582023157694639
      ],
      "position_mm": [
        172.06090361715954,
        -175.96498913394746,
        45.82023157694639
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.26394707928542627,
        -0.1817524585981931,
        0.05379832850067292
      ],
      "position_mm": [
        263.94707928542624,
        -181.7524585981931,
        53.798328500672916
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.22699249213067746,
        -0.1757156069462625,
        0.05175887971517895
      ],
      "position_mm": [
        226.99249213067745,
        -175.7156069462625,
        51.75887971517895
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}