{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:28:51Z",
  "summary": {
    "num_cameras": 4,
    "num_markers": 22,
    "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
      ]
    },
    {
      "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": [
        0.21295340432799809,
        -0.08134560525199809,
        0.34676465633991466
      ],
      "position_mm": [
        212.95340432799807,
        -81.3456052519981,
        346.76465633991467
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.26748419461688105,
        -0.07555162966959135,
        0.34062179003704374
      ],
      "position_mm": [
        267.48419461688104,
        -75.55162966959135,
        340.62179003704375
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16776791477833136,
        -0.1735261568709883,
        -0.027105259896256714
      ],
      "position_mm": [
        167.76791477833137,
        -173.5261568709883,
        -27.105259896256715
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3400004607344842,
        -0.3283125999665426,
        -0.026911638083401537
      ],
      "position_mm": [
        340.0004607344842,
        -328.3125999665426,
        -26.911638083401538
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.28463443759865753,
        -0.2612150005241861,
        -0.027284636103284524
      ],
      "position_mm": [
        284.63443759865754,
        -261.2150005241861,
        -27.284636103284523
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.048252468613801655,
        -0.21617481809728506,
        -0.02825499114487068
      ],
      "position_mm": [
        48.25246861380165,
        -216.17481809728505,
        -28.254991144870683
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40386524463269474,
        -0.17077561786478715,
        -0.029697966091757216
      ],
      "position_mm": [
        403.8652446326947,
        -170.77561786478714,
        -29.697966091757216
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.022618824762393044,
        -0.18515562561663068,
        -0.02859992456022761
      ],
      "position_mm": [
        -22.618824762393043,
        -185.1556256166307,
        -28.59992456022761
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005187900364926809,
        -0.2788731942650693,
        -0.027550054095189732
      ],
      "position_mm": [
        5.187900364926809,
        -278.8731942650693,
        -27.550054095189733
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44197325767064394,
        0.19374844069845626,
        -0.027627581575871345
      ],
      "position_mm": [
        441.97325767064393,
        193.74844069845625,
        -27.627581575871346
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3130767081022614,
        -0.15868492942911414,
        -0.02691555975518297
      ],
      "position_mm": [
        313.0767081022614,
        -158.68492942911413,
        -26.91555975518297
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18653483633087306,
        -0.2754188970050817,
        -0.02768660321278121
      ],
      "position_mm": [
        186.53483633087305,
        -275.4188970050817,
        -27.68660321278121
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.370564545034882,
        -0.18602738756150958,
        -0.026821159898887708
      ],
      "position_mm": [
        370.56454503488203,
        -186.02738756150958,
        -26.821159898887707
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10579192533631554,
        -0.1895941926964775,
        -0.027618346576335943
      ],
      "position_mm": [
        105.79192533631554,
        -189.5941926964775,
        -27.61834657633594
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.27347070894118736,
        -0.16137470186443054,
        0.2338561394838765
      ],
      "position_mm": [
        273.47070894118735,
        -161.37470186443053,
        233.85613948387652
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.352869638720293,
        -0.09145725788305166,
        0.002345588216271336
      ],
      "position_mm": [
        352.869638720293,
        -91.45725788305165,
        2.3455882162713357
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02152169006086301,
        -0.01781689771088892,
        -4.017965590003997e-05
      ],
      "position_mm": [
        21.52169006086301,
        -17.81689771088892,
        -0.040179655900039975
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 211,
      "position_m": [
        0.2529232846849509,
        -0.011193526795391302,
        0.0008042999338933936
      ],
      "position_mm": [
        252.9232846849509,
        -11.193526795391302,
        0.8042999338933936
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.3474652097079566,
        -0.011653319287869626,
        0.0008889542972195948
      ],
      "position_mm": [
        347.4652097079566,
        -11.653319287869627,
        0.8889542972195948
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.1720609036164841,
        -0.17596498913279035,
        0.04582023157488631
      ],
      "position_mm": [
        172.0609036164841,
        -175.96498913279035,
        45.82023157488631
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.26394707886688623,
        -0.1817524631662673,
        0.05379833069978786
      ],
      "position_mm": [
        263.9470788668862,
        -181.75246316626732,
        53.79833069978786
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.22699249316704756,
        -0.17571560390676985,
        0.051758878067548385
      ],
      "position_mm": [
        226.99249316704757,
        -175.71560390676984,
        51.75887806754839
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}