{ "schema_version": "1.2", "created_utc": "2026-06-03T04:30:19Z", "summary": { "num_cameras": 5, "num_markers": 36, "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": "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": "g", "position_m": [ -0.20770381032232174, 0.20442134232445805, 1.4010649939179851 ], "position_mm": [ -207.70381032232174, 204.42134232445804, 1401.064993917985 ], "direction": [ 0.3006979525089264, -0.2988070547580719, -0.9057013988494873 ] } ], "markers": [ { "marker_id": 42, "position_m": [ 0.2155371038767879, -0.07736723873157812, 0.34348138046490384 ], "position_mm": [ 215.5371038767879, -77.36723873157813, 343.48138046490385 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 43, "position_m": [ 0.2690804409276964, -0.07426023698231808, 0.34007879580993666 ], "position_mm": [ 269.0804409276964, -74.26023698231808, 340.07879580993665 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 47, "position_m": [ 0.34451232692348116, -0.2859750045649974, -0.030660932422538176 ], "position_mm": [ 344.51232692348117, -285.9750045649974, -30.660932422538178 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 48, "position_m": [ 0.6876767808619769, -0.31878216066969595, -0.027804483616816048 ], "position_mm": [ 687.6767808619769, -318.78216066969594, -27.804483616816047 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.16791313498274696, -0.17343334420173181, -0.027162593951766536 ], "position_mm": [ 167.91313498274695, -173.4333442017318, -27.162593951766535 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.48731493720828944, 0.21098037643184092, -0.024548577409354767 ], "position_mm": [ 487.31493720828945, 210.9803764318409, -24.548577409354767 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.33910092421479143, -0.3294114580882282, -0.025347572681347196 ], "position_mm": [ 339.1009242147914, -329.4114580882282, -25.347572681347195 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.28439052209501475, -0.2613391048853148, -0.02692169232869873 ], "position_mm": [ 284.3905220950148, -261.3391048853148, -26.92169232869873 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 56, "position_m": [ 0.4997721174264543, 0.16757673755803212, -0.02826306064791763 ], "position_mm": [ 499.77211742645426, 167.57673755803214, -28.26306064791763 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.04889559169569525, -0.217186791654697, -0.027874456924719064 ], "position_mm": [ 48.895591695695245, -217.186791654697, -27.874456924719063 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.6248781989349489, -0.277511321522494, -0.023528681157475573 ], "position_mm": [ 624.8781989349488, -277.51132152249403, -23.528681157475575 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.40356189347623894, -0.17021997390925395, -0.030059104278888322 ], "position_mm": [ 403.56189347623894, -170.21997390925395, -30.059104278888324 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 63, "position_m": [ 0.7750531236485336, -0.23604942982505223, -0.02769229402049898 ], "position_mm": [ 775.0531236485336, -236.04942982505221, -27.69229402049898 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.021943920151042396, -0.18609343381947585, -0.02777754225570531 ], "position_mm": [ -21.943920151042395, -186.09343381947585, -27.77754225570531 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.005221714319211463, -0.2794614795550847, -0.02710833512477813 ], "position_mm": [ 5.221714319211463, -279.46147955508474, -27.10833512477813 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 71, "position_m": [ 0.7507524179786621, -0.2856800098991081, -0.026516600440758112 ], "position_mm": [ 750.7524179786622, -285.6800098991081, -26.51660044075811 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.4419738405689525, 0.1935389085402466, -0.027643024112471944 ], "position_mm": [ 441.9738405689525, 193.5389085402466, -27.643024112471945 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.3133740567395984, -0.15834372964979998, -0.027290858047193698 ], "position_mm": [ 313.3740567395984, -158.34372964979997, -27.290858047193698 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5068115831952503, -0.31446328126921785, -0.026951449898547444 ], "position_mm": [ 506.8115831952503, -314.4632812692179, -26.951449898547445 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 86, "position_m": [ 0.36167147994946347, 0.29475140441912767, -0.026717883208911258 ], "position_mm": [ 361.67147994946345, 294.75140441912765, -26.717883208911257 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.6467107123503496, -0.1855178027400724, -0.027860183034047702 ], "position_mm": [ 646.7107123503496, -185.5178027400724, -27.8601830340477 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.18651078812118949, -0.2753558387513015, -0.027935228985980453 ], "position_mm": [ 186.51078812118948, -275.35583875130146, -27.93522898598045 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.3706329779034521, -0.1861553355200145, -0.026655680047457834 ], "position_mm": [ 370.6329779034521, -186.15533552001452, -26.655680047457835 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6518886490032676, -0.22360029662454184, -0.028366780312815882 ], "position_mm": [ 651.8886490032676, -223.60029662454184, -28.366780312815884 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10596263317155256, -0.18960030954209903, -0.02764253449056367 ], "position_mm": [ 105.96263317155257, -189.60030954209904, -27.64253449056367 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 113, "position_m": [ 0.27372770270384417, -0.1610380619958812, 0.2337951286005648 ], "position_mm": [ 273.72770270384416, -161.03806199588118, 233.79512860056482 ], "link": "Arm2", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 198, "position_m": [ 0.1705257674436962, -0.05261062552942778, 0.09194426959325906 ], "position_mm": [ 170.52576744369622, -52.61062552942778, 91.94426959325907 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 205, "position_m": [ 0.7523456172839503, -0.09023281302768683, 0.0004384393106032699 ], "position_mm": [ 752.3456172839503, -90.23281302768683, 0.4384393106032699 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.35236076067839706, -0.0904814497781556, 0.00158820603999572 ], "position_mm": [ 352.36076067839707, -90.4814497781556, 1.58820603999572 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.021445760134738995, -0.018397879091790855, -0.00017605198261496985 ], "position_mm": [ 21.445760134738997, -18.397879091790855, -0.17605198261496985 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.3472087950387008, -0.010657495871318872, 0.00032645386957225176 ], "position_mm": [ 347.20879503870077, -10.657495871318872, 0.32645386957225175 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 217, "position_m": [ 0.6478653877247794, -0.09040497180371615, -0.00079152946909585 ], "position_mm": [ 647.8653877247795, -90.40497180371615, -0.79152946909585 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 229, "position_m": [ 0.1675981566282454, -0.14201514998156042, 0.08203154927609856 ], "position_mm": [ 167.5981566282454, -142.01514998156043, 82.03154927609856 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 243, "position_m": [ 0.17178563259824287, -0.17543737589956168, 0.04576275737278999 ], "position_mm": [ 171.78563259824287, -175.4373758995617, 45.762757372789984 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.26365890905350997, -0.1808305988596797, 0.05352270525113296 ], "position_mm": [ 263.65890905350994, -180.8305988596797, 53.52270525113296 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 248, "position_m": [ 0.2266358195037227, -0.17521910033048668, 0.051512189849006344 ], "position_mm": [ 226.6358195037227, -175.21910033048667, 51.51218984900635 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }