{
  "schema_version": "1.2",
  "stage": "initial_triangulation",
  "created_utc": "2026-06-03T04:36:25Z",
  "summary": {
    "num_cameras": 5,
    "num_markers": 33,
    "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": "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": 42,
      "position_m": [
        0.21466578557990387,
        -0.07796779672031891,
        0.34162519530280305
      ],
      "position_mm": [
        214.66578557990388,
        -77.9677967203189,
        341.62519530280304
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.2678074416469462,
        -0.07493714513183172,
        0.34059218678804903
      ],
      "position_mm": [
        267.8074416469462,
        -74.93714513183173,
        340.59218678804905
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 48,
      "position_m": [
        0.6870768685271785,
        -0.31846148704917165,
        -0.027715977780475173
      ],
      "position_mm": [
        687.0768685271785,
        -318.46148704917164,
        -27.715977780475175
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16803760042339544,
        -0.1725703510069347,
        -0.02805471387123744
      ],
      "position_mm": [
        168.03760042339545,
        -172.57035100693471,
        -28.05471387123744
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3396661333501714,
        -0.32736215414413544,
        -0.026888380389196515
      ],
      "position_mm": [
        339.6661333501714,
        -327.36215414413545,
        -26.888380389196517
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.28441233428163654,
        -0.26127120697645106,
        -0.027261303924589416
      ],
      "position_mm": [
        284.41233428163656,
        -261.2712069764511,
        -27.261303924589416
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.047910117314056984,
        -0.21772374893510985,
        -0.026342851560204054
      ],
      "position_mm": [
        47.91011731405698,
        -217.72374893510985,
        -26.342851560204053
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.627367711620584,
        -0.2767301385312419,
        -0.02713870339763914
      ],
      "position_mm": [
        627.367711620584,
        -276.7301385312419,
        -27.13870339763914
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4018457188129276,
        -0.17318303488230574,
        -0.027464548834250934
      ],
      "position_mm": [
        401.8457188129276,
        -173.18303488230575,
        -27.464548834250934
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7761020215056514,
        -0.23636674138969066,
        -0.027895076193012947
      ],
      "position_mm": [
        776.1020215056515,
        -236.36674138969067,
        -27.895076193012947
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.01930400971309661,
        -0.18934711892434264,
        -0.026673763996124325
      ],
      "position_mm": [
        -19.30400971309661,
        -189.34711892434265,
        -26.673763996124325
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.006065889773137263,
        -0.2778339613574879,
        -0.027676150050922024
      ],
      "position_mm": [
        6.065889773137263,
        -277.8339613574879,
        -27.676150050922022
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3119665144183787,
        -0.1586610693600219,
        -0.028168102350244497
      ],
      "position_mm": [
        311.96651441837867,
        -158.66106936002188,
        -28.168102350244496
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5057582568810841,
        -0.31440532130115617,
        -0.027405738946589663
      ],
      "position_mm": [
        505.7582568810841,
        -314.40532130115616,
        -27.405738946589665
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.36309289185425386,
        0.2945229973669171,
        -0.029744444504427175
      ],
      "position_mm": [
        363.0928918542539,
        294.52299736691714,
        -29.744444504427175
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.646709286359723,
        -0.18763849808465397,
        -0.026941611666311493
      ],
      "position_mm": [
        646.709286359723,
        -187.63849808465397,
        -26.94161166631149
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18675726415718957,
        -0.2772326070863383,
        -0.027835845399334723
      ],
      "position_mm": [
        186.75726415718958,
        -277.2326070863383,
        -27.835845399334723
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3723771875322561,
        -0.18287471777502726,
        -0.028741662287298075
      ],
      "position_mm": [
        372.37718753225613,
        -182.87471777502725,
        -28.741662287298077
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 97,
      "position_m": [
        0.30578945379688804,
        -0.35840379283884594,
        -0.026248720958565185
      ],
      "position_mm": [
        305.78945379688804,
        -358.40379283884596,
        -26.248720958565187
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6517011420120365,
        -0.2237884527863699,
        -0.027625253595628233
      ],
      "position_mm": [
        651.7011420120366,
        -223.7884527863699,
        -27.625253595628234
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10447351062354218,
        -0.19092703664740496,
        -0.027300411819116414
      ],
      "position_mm": [
        104.47351062354218,
        -190.92703664740495,
        -27.300411819116412
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.27186777500122156,
        -0.16278659547049093,
        0.236856551203188
      ],
      "position_mm": [
        271.86777500122156,
        -162.78659547049094,
        236.856551203188
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.17080407368242378,
        -0.052739634452765985,
        0.0905124319750469
      ],
      "position_mm": [
        170.8040736824238,
        -52.73963445276598,
        90.5124319750469
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6505161854371168,
        -0.010510973367911375,
        0.00013056112483235006
      ],
      "position_mm": [
        650.5161854371167,
        -10.510973367911374,
        0.13056112483235005
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3526836326789717,
        -0.08913564188613265,
        -0.00023158928301903885
      ],
      "position_mm": [
        352.68363267897166,
        -89.13564188613266,
        -0.23158928301903886
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.021764429821523233,
        -0.01939324021151464,
        0.0006256633516135473
      ],
      "position_mm": [
        21.764429821523233,
        -19.39324021151464,
        0.6256633516135474
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34898038757170113,
        -0.011587203864139561,
        1.7262635095587508e-05
      ],
      "position_mm": [
        348.98038757170116,
        -11.58720386413956,
        0.01726263509558751
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.2502453362416292,
        -0.08864758231000877,
        3.4043124471333135e-05
      ],
      "position_mm": [
        250.2453362416292,
        -88.64758231000877,
        0.03404312447133313
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6468583375659769,
        -0.08963796543280847,
        -0.0002634109309689334
      ],
      "position_mm": [
        646.8583375659769,
        -89.63796543280847,
        -0.2634109309689334
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.1670531692409411,
        -0.14214829729787334,
        0.08739552247380523
      ],
      "position_mm": [
        167.0531692409411,
        -142.14829729787334,
        87.39552247380523
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.1710733429822334,
        -0.17499855921282062,
        0.046106208036846785
      ],
      "position_mm": [
        171.07334298223338,
        -174.99855921282062,
        46.10620803684679
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.2590773695239921,
        -0.17709470663002747,
        0.05329333659789615
      ],
      "position_mm": [
        259.07736952399205,
        -177.09470663002747,
        53.29333659789615
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.22658601130695485,
        -0.17455983604597702,
        0.05180187595370481
      ],
      "position_mm": [
        226.58601130695484,
        -174.55983604597702,
        51.80187595370481
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}