{ "schema_version": "1.2", "created_utc": "2026-06-03T04:29:52Z", "summary": { "num_cameras": 5, "num_markers": 39, "num_constraints": 94 }, "cameras": [ { "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": "e", "position_m": [ 1.231553512896588, -0.9094105466187785, 0.39759016852425577 ], "position_mm": [ 1231.553512896588, -909.4105466187785, 397.5901685242558 ], "direction": [ -0.7645778059959412, 0.5944018959999084, -0.24921302497386932 ] }, { "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 ] }, { "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": 41, "position_m": [ 0.24565857201749802, -0.11180003560274394, 0.344143907262764 ], "position_mm": [ 245.65857201749802, -111.80003560274395, 344.143907262764 ], "link": "FingerA", "normal": [ 0.0, -0.9375276894468237, 0.34791066600565723 ] }, { "marker_id": 42, "position_m": [ 0.21318510729165308, -0.07733014304926629, 0.34179159449579744 ], "position_mm": [ 213.18510729165308, -77.33014304926628, 341.7915944957974 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 43, "position_m": [ 0.2671231820624592, -0.07628547075578515, 0.34247934503908917 ], "position_mm": [ 267.1231820624592, -76.28547075578516, 342.47934503908914 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 46, "position_m": [ 0.537143691214636, 0.18352700947682857, -0.03322021215921294 ], "position_mm": [ 537.143691214636, 183.52700947682857, -33.22021215921294 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 47, "position_m": [ 0.34419622212730117, -0.2861297666133497, -0.0315929104184442 ], "position_mm": [ 344.19622212730116, -286.1297666133497, -31.5929104184442 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 48, "position_m": [ 0.6877728394144169, -0.3188653603139924, -0.028239793010783276 ], "position_mm": [ 687.7728394144169, -318.86536031399237, -28.239793010783277 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.48774521395136244, 0.21089967322240633, -0.023558605168695016 ], "position_mm": [ 487.7452139513624, 210.89967322240634, -23.558605168695017 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.3401862630627091, -0.329174757238947, -0.022916114301856874 ], "position_mm": [ 340.1862630627091, -329.174757238947, -22.916114301856876 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.284322129251073, -0.26108187683576417, -0.026772479544986207 ], "position_mm": [ 284.32212925107297, -261.08187683576415, -26.772479544986208 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 56, "position_m": [ 0.49927739546825034, 0.16728495858792114, -0.027756613544439146 ], "position_mm": [ 499.27739546825035, 167.28495858792115, -27.756613544439148 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.04960973921511181, -0.2181523705935227, -0.02712114716869546 ], "position_mm": [ 49.60973921511181, -218.15237059352268, -27.121147168695458 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.6246106414149751, -0.27830434105681195, -0.022710954615736127 ], "position_mm": [ 624.6106414149751, -278.30434105681195, -22.710954615736128 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4033795681689587, -0.17035462680389682, -0.030040871703147756 ], "position_mm": [ 403.3795681689587, -170.35462680389682, -30.040871703147754 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 63, "position_m": [ 0.7760607563034595, -0.23602859617760485, -0.027995293459908567 ], "position_mm": [ 776.0607563034595, -236.02859617760487, -27.995293459908567 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.021342662726928998, -0.18731796912180107, -0.027317825866569452 ], "position_mm": [ -21.342662726929, -187.31796912180107, -27.317825866569454 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 66, "position_m": [ 0.21054493492360354, -0.3644794877536096, -0.027970077037395086 ], "position_mm": [ 210.54493492360353, -364.4794877536096, -27.970077037395086 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 68, "position_m": [ 0.575523850167611, 0.17405406046508867, -0.02804843804540337 ], "position_mm": [ 575.5238501676109, 174.05406046508867, -28.04843804540337 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.004760672255694536, -0.2795904636520012, -0.026862695983641733 ], "position_mm": [ 4.760672255694536, -279.5904636520012, -26.862695983641732 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 71, "position_m": [ 0.7504239476076807, -0.2849785259844823, -0.02666738980059098 ], "position_mm": [ 750.4239476076807, -284.9785259844823, -26.66738980059098 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.4424064656112614, 0.1937740371452721, -0.028109117964709752 ], "position_mm": [ 442.4064656112614, 193.7740371452721, -28.109117964709753 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 75, "position_m": [ -0.02683801570235572, 0.19199787837961615, -0.02599768565818668 ], "position_mm": [ -26.83801570235572, 191.99787837961617, -25.99768565818668 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.31283571635934, -0.15938955118252096, -0.026762487779494346 ], "position_mm": [ 312.83571635934, -159.38955118252096, -26.762487779494347 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.50653039890669, -0.3138004345574421, -0.027172470709359044 ], "position_mm": [ 506.53039890669004, -313.8004345574421, -27.172470709359043 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 86, "position_m": [ 0.36167147995227306, 0.2947514044202251, -0.026717883213019666 ], "position_mm": [ 361.67147995227305, 294.75140442022513, -26.717883213019665 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.6469072382414883, -0.1857874265244423, -0.028463558397414695 ], "position_mm": [ 646.9072382414884, -185.7874265244423, -28.463558397414694 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.1859968731690009, -0.27558558738486943, -0.030603226229946417 ], "position_mm": [ 185.9968731690009, -275.5855873848694, -30.603226229946415 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.3704850419417551, -0.18639003573314394, -0.02677817873869133 ], "position_mm": [ 370.48504194175507, -186.39003573314395, -26.77817873869133 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 97, "position_m": [ 0.30505309517485346, -0.36037881044406306, -0.03160725869915366 ], "position_mm": [ 305.05309517485347, -360.37881044406305, -31.607258699153657 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6509128809370045, -0.22397074414015977, -0.026637920650458297 ], "position_mm": [ 650.9128809370045, -223.97074414015978, -26.637920650458298 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10637204657250834, -0.1899433370916799, -0.027261756018185212 ], "position_mm": [ 106.37204657250834, -189.9433370916799, -27.261756018185213 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 113, "position_m": [ 0.27390898002509745, -0.1680746410581139, 0.23720539806461732 ], "position_mm": [ 273.90898002509743, -168.0746410581139, 237.20539806461733 ], "link": "Arm2", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 198, "position_m": [ 0.17083139098813735, -0.052645397658270233, 0.09068883995518626 ], "position_mm": [ 170.83139098813734, -52.645397658270234, 90.68883995518625 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 205, "position_m": [ 0.7523456172839504, -0.09023281302768679, 0.0004384393106031077 ], "position_mm": [ 752.3456172839504, -90.23281302768679, 0.4384393106031077 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.3517943025445722, -0.09040628450546188, -0.0006322739051050866 ], "position_mm": [ 351.79430254457225, -90.40628450546188, -0.6322739051050866 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.02160357346162749, -0.019362990795315737, -0.0006148912173716146 ], "position_mm": [ 21.60357346162749, -19.36299079531574, -0.6148912173716147 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.34766311081327156, -0.010523977205615312, -0.0019543490431346393 ], "position_mm": [ 347.66311081327154, -10.523977205615312, -1.9543490431346393 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 229, "position_m": [ 0.16648268635334196, -0.14218705239807355, 0.0827275968392916 ], "position_mm": [ 166.48268635334196, -142.18705239807355, 82.72759683929159 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 243, "position_m": [ 0.1718074440226475, -0.17224426849388305, 0.04376329719692422 ], "position_mm": [ 171.8074440226475, -172.24426849388306, 43.76329719692422 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.26331702219105824, -0.18901572123627453, 0.05667883559512724 ], "position_mm": [ 263.31702219105824, -189.01572123627452, 56.67883559512725 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }