{ "schema_version": "1.2", "created_utc": "2026-06-03T04:36:19Z", "summary": { "num_cameras": 5, "num_markers": 40, "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": "d", "position_m": [ 0.7010643463118735, -0.7940689865992328, 0.40229983605243974 ], "position_mm": [ 701.0643463118736, -794.0689865992327, 402.29983605243973 ], "direction": [ -0.5524550080299377, 0.7830438613891602, -0.285719633102417 ] }, { "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 ] }, { "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": 41, "position_m": [ 0.24582134381695803, -0.11298980568660977, 0.3418144930280344 ], "position_mm": [ 245.82134381695803, -112.98980568660977, 341.8144930280344 ], "link": "FingerA", "normal": [ 0.0, -0.9375276894468237, 0.34791066600565723 ] }, { "marker_id": 42, "position_m": [ 0.21313851623496105, -0.07865543275062964, 0.3429171254416546 ], "position_mm": [ 213.13851623496106, -78.65543275062964, 342.9171254416546 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 43, "position_m": [ 0.2674715718700652, -0.07572649092506438, 0.34034251701831586 ], "position_mm": [ 267.4715718700652, -75.72649092506438, 340.34251701831585 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 46, "position_m": [ 0.5366583809116194, 0.18336990890173463, -0.031850401656531156 ], "position_mm": [ 536.6583809116195, 183.36990890173462, -31.850401656531155 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 47, "position_m": [ 0.34515795226381246, -0.2849736473676051, -0.030808569413305825 ], "position_mm": [ 345.1579522638125, -284.9736473676051, -30.808569413305825 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 48, "position_m": [ 0.6882423700059758, -0.31846871752287426, -0.028757422817558626 ], "position_mm": [ 688.2423700059758, -318.4687175228743, -28.757422817558627 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.16805970412658133, -0.1738559432642626, -0.02718076484765543 ], "position_mm": [ 168.05970412658132, -173.8559432642626, -27.180764847655432 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.4870569471128886, 0.21089073889296278, -0.023071939796948323 ], "position_mm": [ 487.0569471128886, 210.8907388929628, -23.071939796948325 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.34042977265159197, -0.328599871732917, -0.02649238036323639 ], "position_mm": [ 340.429772651592, -328.599871732917, -26.49238036323639 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.2847851738534138, -0.2608807988238399, -0.02761368354561324 ], "position_mm": [ 284.78517385341377, -260.8807988238399, -27.613683545613238 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 56, "position_m": [ 0.49872891092258337, 0.16724439543114575, -0.026480547788060343 ], "position_mm": [ 498.7289109225834, 167.24439543114576, -26.480547788060342 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.04863548482361198, -0.21667397765150256, -0.026762299881818462 ], "position_mm": [ 48.635484823611975, -216.67397765150255, -26.76229988181846 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.625481620411455, -0.2771288359174774, -0.024594578218537274 ], "position_mm": [ 625.4816204114551, -277.1288359174774, -24.594578218537276 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4035705749169733, -0.17170644286876752, -0.03013467033978482 ], "position_mm": [ 403.57057491697327, -171.7064428687675, -30.134670339784822 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 63, "position_m": [ 0.775096987986824, -0.23656525245074506, -0.02721972151600195 ], "position_mm": [ 775.096987986824, -236.56525245074505, -27.219721516001947 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.022808541613702483, -0.18714859900005582, -0.029770656259551307 ], "position_mm": [ -22.808541613702484, -187.1485990000558, -29.770656259551306 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 66, "position_m": [ 0.20992571818984207, -0.36499881190383354, -0.030099280078997884 ], "position_mm": [ 209.92571818984206, -364.99881190383354, -30.099280078997882 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 68, "position_m": [ 0.5751824995477948, 0.17384266591929887, -0.028023525028758413 ], "position_mm": [ 575.1824995477948, 173.84266591929887, -28.023525028758414 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.005382509623723865, -0.2792456008825714, -0.027080427514456874 ], "position_mm": [ 5.382509623723865, -279.2456008825714, -27.080427514456872 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.44175187722037557, 0.19352619527930007, -0.027011639363179657 ], "position_mm": [ 441.75187722037555, 193.52619527930005, -27.011639363179658 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.3117746025074977, -0.15813268660753496, -0.02703931424963423 ], "position_mm": [ 311.7746025074977, -158.13268660753496, -27.039314249634227 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 83, "position_m": [ 0.045262256850656574, 0.34147398058047096, -0.027991635058192105 ], "position_mm": [ 45.26225685065658, 341.47398058047094, -27.991635058192106 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5063341262380522, -0.3137966465810939, -0.026980467695113444 ], "position_mm": [ 506.3341262380522, -313.7966465810939, -26.980467695113443 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 86, "position_m": [ 0.36188821621069617, 0.29408073871905216, -0.027591467490577556 ], "position_mm": [ 361.88821621069616, 294.08073871905214, -27.591467490577557 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.6482687015449912, -0.18531330413075572, -0.02905940256868983 ], "position_mm": [ 648.2687015449911, -185.3133041307557, -29.05940256868983 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.1863827345035278, -0.27583034664784256, -0.027573778731171398 ], "position_mm": [ 186.3827345035278, -275.8303466478426, -27.573778731171398 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.3695627042194314, -0.18478556747820055, -0.025419376537758005 ], "position_mm": [ 369.5627042194314, -184.78556747820053, -25.419376537758005 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 97, "position_m": [ 0.30428191456916553, -0.3597901673898892, -0.02447680634037775 ], "position_mm": [ 304.2819145691655, -359.79016738988923, -24.47680634037775 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6530448621720223, -0.22345122452577418, -0.02887861256473315 ], "position_mm": [ 653.0448621720222, -223.45122452577417, -28.87861256473315 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10607861112417986, -0.18989944384269228, -0.027826697107199937 ], "position_mm": [ 106.07861112417986, -189.89944384269228, -27.826697107199937 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 198, "position_m": [ 0.1697972724349953, -0.05278343708645485, 0.09110700749466318 ], "position_mm": [ 169.79727243499528, -52.78343708645485, 91.10700749466318 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 206, "position_m": [ 0.6503858406901765, -0.01069560598114113, 0.0003220051252904572 ], "position_mm": [ 650.3858406901765, -10.69560598114113, 0.3220051252904572 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.35252422013354434, -0.09101241779948596, 0.0011315488919217942 ], "position_mm": [ 352.52422013354436, -91.01241779948596, 1.1315488919217942 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.021470352123184763, -0.020169798850541137, 0.0006228688992059401 ], "position_mm": [ 21.470352123184764, -20.169798850541138, 0.6228688992059401 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.3479233751095064, -0.011151537391525886, 9.800870593580423e-05 ], "position_mm": [ 347.92337510950637, -11.151537391525887, 0.09800870593580423 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 217, "position_m": [ 0.6468983169646412, -0.09061439560099731, -0.0005859493126237698 ], "position_mm": [ 646.8983169646411, -90.61439560099731, -0.5859493126237697 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 229, "position_m": [ 0.16697737024575293, -0.1425149741618466, 0.08475883486879476 ], "position_mm": [ 166.97737024575292, -142.5149741618466, 84.75883486879476 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 243, "position_m": [ 0.17024427483596002, -0.17434333697602636, 0.04699248805827561 ], "position_mm": [ 170.24427483596003, -174.34333697602636, 46.99248805827561 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.26159565305468224, -0.17706791039616224, 0.052953841952766686 ], "position_mm": [ 261.59565305468226, -177.06791039616223, 52.95384195276669 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 248, "position_m": [ 0.2242010286853462, -0.17437562420115774, 0.052156344573200834 ], "position_mm": [ 224.2010286853462, -174.37562420115773, 52.15634457320083 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }