{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:32:42Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 14,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "c",
      "position_m": [
        0.3025716400208697,
        -0.9019776711250698,
        0.39818619728372245
      ],
      "position_mm": [
        302.5716400208697,
        -901.9776711250697,
        398.18619728372244
      ],
      "direction": [
        -0.10782834142446518,
        0.9495705962181091,
        -0.2944294512271881
      ]
    },
    {
      "camera_id": "e",
      "position_m": [
        1.2047895519114378,
        -0.909711288880933,
        0.41070428458266445
      ],
      "position_mm": [
        1204.7895519114377,
        -909.711288880933,
        410.70428458266446
      ],
      "direction": [
        -0.7462964057922363,
        0.608277440071106,
        -0.2702595889568329
      ]
    },
    {
      "camera_id": "g",
      "position_m": [
        -0.20892576741721647,
        0.20128727403677504,
        1.401691703675199
      ],
      "position_mm": [
        -208.92576741721646,
        201.28727403677505,
        1401.691703675199
      ],
      "direction": [
        0.30114462971687317,
        -0.2968323230743408,
        -0.9062021970748901
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 48,
      "position_m": [
        0.6870673705588948,
        -0.31847237864762684,
        -0.027718573562112873
      ],
      "position_mm": [
        687.0673705588948,
        -318.47237864762684,
        -27.718573562112873
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40236870263502955,
        -0.173880205902727,
        -0.027338148988262784
      ],
      "position_mm": [
        402.36870263502954,
        -173.880205902727,
        -27.338148988262784
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7763945913403053,
        -0.23606125995115726,
        -0.027746913980438097
      ],
      "position_mm": [
        776.3945913403053,
        -236.06125995115727,
        -27.746913980438098
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.019266222649452762,
        -0.18932995512425596,
        -0.02667606515252766
      ],
      "position_mm": [
        -19.26622264945276,
        -189.32995512425597,
        -26.67606515252766
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5055924541135095,
        -0.3146108979780318,
        -0.02741559278540433
      ],
      "position_mm": [
        505.5924541135095,
        -314.6108979780318,
        -27.415592785404332
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.651858539107188,
        -0.22361804235997093,
        -0.027570323917167277
      ],
      "position_mm": [
        651.8585391071881,
        -223.61804235997093,
        -27.570323917167276
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10465932436837361,
        -0.1908630204534747,
        -0.02728521284362186
      ],
      "position_mm": [
        104.6593243683736,
        -190.8630204534747,
        -27.28521284362186
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.27187778429291254,
        -0.16297584775664273,
        0.23599355296610083
      ],
      "position_mm": [
        271.87778429291257,
        -162.97584775664274,
        235.99355296610082
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.17104632039090303,
        -0.05243176121279768,
        0.09052434909816039
      ],
      "position_mm": [
        171.04632039090302,
        -52.43176121279768,
        90.52434909816039
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35299812210730414,
        -0.08961408854953548,
        0.00011430512568081065
      ],
      "position_mm": [
        352.99812210730414,
        -89.61408854953548,
        0.11430512568081065
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.3489258731710103,
        -0.009718952656040723,
        -0.0003132537046046715
      ],
      "position_mm": [
        348.9258731710103,
        -9.718952656040724,
        -0.3132537046046715
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.25028028038517386,
        -0.08860567497038485,
        3.6910963591698516e-05
      ],
      "position_mm": [
        250.28028038517385,
        -88.60567497038485,
        0.036910963591698515
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.167460161425963,
        -0.1423109041781725,
        0.08754472301414684
      ],
      "position_mm": [
        167.460161425963,
        -142.3109041781725,
        87.54472301414684
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.26098356115806837,
        -0.17896279323337322,
        0.053334788223110205
      ],
      "position_mm": [
        260.98356115806837,
        -178.96279323337322,
        53.3347882231102
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}