{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:34:40Z",
  "summary": {
    "num_cameras": 4,
    "num_markers": 28,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "a",
      "position_m": [
        -0.30124957039980904,
        -0.7944876545661685,
        0.8037787426157785
      ],
      "position_mm": [
        -301.24957039980904,
        -794.4876545661685,
        803.7787426157786
      ],
      "direction": [
        0.47980576753616333,
        0.6539319157600403,
        -0.5849440097808838
      ]
    },
    {
      "camera_id": "b",
      "position_m": [
        0.29717288049224716,
        -0.8887366669190728,
        1.2029439521855916
      ],
      "position_mm": [
        297.17288049224715,
        -888.7366669190728,
        1202.9439521855916
      ],
      "direction": [
        0.010270745493471622,
        0.6205654144287109,
        -0.7840874195098877
      ]
    },
    {
      "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": "f",
      "position_m": [
        0.48505310768854737,
        -0.309669335539303,
        1.402070939578569
      ],
      "position_mm": [
        485.05310768854736,
        -309.669335539303,
        1402.070939578569
      ],
      "direction": [
        -0.22737352550029755,
        0.08767975866794586,
        -0.9698523283004761
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 42,
      "position_m": [
        0.21328619800592796,
        -0.08037371372196063,
        0.34396907672555155
      ],
      "position_mm": [
        213.28619800592796,
        -80.37371372196063,
        343.96907672555153
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.26628935473440196,
        -0.07804398858166939,
        0.3433488089271622
      ],
      "position_mm": [
        266.28935473440197,
        -78.04398858166938,
        343.34880892716217
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.3450498713250231,
        -0.28540399056255483,
        -0.03040221947590855
      ],
      "position_mm": [
        345.0498713250231,
        -285.40399056255484,
        -30.40221947590855
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16752715417668762,
        -0.17442236282583265,
        -0.0268123268356747
      ],
      "position_mm": [
        167.52715417668762,
        -174.42236282583264,
        -26.8123268356747
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3400734097416235,
        -0.328947976739458,
        -0.02556586422285488
      ],
      "position_mm": [
        340.0734097416235,
        -328.947976739458,
        -25.56586422285488
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2849203979723208,
        -0.260630298558441,
        -0.0279012134998593
      ],
      "position_mm": [
        284.9203979723208,
        -260.630298558441,
        -27.901213499859303
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.04868941358221608,
        -0.2179763477039661,
        -0.025891765304809314
      ],
      "position_mm": [
        48.68941358221608,
        -217.9763477039661,
        -25.891765304809315
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40375358158477137,
        -0.17079820655685773,
        -0.029803620485050704
      ],
      "position_mm": [
        403.7535815847714,
        -170.79820655685774,
        -29.803620485050704
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.021655715636590942,
        -0.18594518070748856,
        -0.029150458347730897
      ],
      "position_mm": [
        -21.65571563659094,
        -185.94518070748856,
        -29.150458347730897
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.006770382146863223,
        -0.2813014734603872,
        -0.02154755567911875
      ],
      "position_mm": [
        6.7703821468632235,
        -281.3014734603872,
        -21.54755567911875
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.31238033333790477,
        -0.15861490451032734,
        -0.027966861988192506
      ],
      "position_mm": [
        312.38033333790474,
        -158.61490451032734,
        -27.966861988192505
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 83,
      "position_m": [
        0.04526225685008179,
        0.3414739805777948,
        -0.027991635055581818
      ],
      "position_mm": [
        45.26225685008179,
        341.4739805777948,
        -27.991635055581817
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5065893233024177,
        -0.3136226656126898,
        -0.02721250332234383
      ],
      "position_mm": [
        506.5893233024177,
        -313.6226656126898,
        -27.21250332234383
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.3632844304015893,
        0.29659971445464217,
        -0.030133379502486273
      ],
      "position_mm": [
        363.2844304015893,
        296.5997144546422,
        -30.133379502486275
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6467097839987547,
        -0.18764202739784,
        -0.026943256272612
      ],
      "position_mm": [
        646.7097839987547,
        -187.64202739784,
        -26.943256272612
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18664034925232081,
        -0.2762442788671235,
        -0.02809504515737947
      ],
      "position_mm": [
        186.64034925232082,
        -276.2442788671235,
        -28.09504515737947
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3701536480745307,
        -0.18531509958972467,
        -0.026620425660290846
      ],
      "position_mm": [
        370.15364807453074,
        -185.31509958972467,
        -26.620425660290845
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 97,
      "position_m": [
        0.30404041716452695,
        -0.360279544740231,
        -0.023689087525762226
      ],
      "position_mm": [
        304.04041716452696,
        -360.279544740231,
        -23.689087525762226
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10535305446840582,
        -0.18965758646721345,
        -0.028131528624879578
      ],
      "position_mm": [
        105.35305446840582,
        -189.65758646721346,
        -28.13152862487958
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.1710005495486855,
        -0.05253569226235413,
        0.0905706229121904
      ],
      "position_mm": [
        171.00054954868548,
        -52.53569226235413,
        90.5706229121904
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.650515324815185,
        -0.010506868542918392,
        0.00013253247211060905
      ],
      "position_mm": [
        650.5153248151851,
        -10.506868542918392,
        0.13253247211060906
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35263678430208817,
        -0.09164338031217528,
        0.0012475615775919603
      ],
      "position_mm": [
        352.6367843020882,
        -91.64338031217528,
        1.2475615775919602
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.021850443731906862,
        -0.018571818407186927,
        0.0001696004121962912
      ],
      "position_mm": [
        21.85044373190686,
        -18.571818407186928,
        0.1696004121962912
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34856078832570236,
        -0.011755240849541125,
        0.00012090456848102245
      ],
      "position_mm": [
        348.5607883257024,
        -11.755240849541124,
        0.12090456848102245
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.16731612872932225,
        -0.14231171223237735,
        0.08540397635077875
      ],
      "position_mm": [
        167.31612872932226,
        -142.31171223237735,
        85.40397635077875
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.17074567119551345,
        -0.17216799171088337,
        0.04607380244731414
      ],
      "position_mm": [
        170.74567119551347,
        -172.16799171088337,
        46.073802447314144
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.26228174126750164,
        -0.17211054940797033,
        0.04959864551101095
      ],
      "position_mm": [
        262.2817412675017,
        -172.11054940797032,
        49.59864551101095
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.22525960492197966,
        -0.17682511130389578,
        0.053254820285505385
      ],
      "position_mm": [
        225.25960492197967,
        -176.82511130389577,
        53.25482028550538
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}