{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:35:05Z",
  "summary": {
    "num_cameras": 5,
    "num_markers": 38,
    "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": "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": "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": [
        0.24582134484849524,
        -0.112989805720934,
        0.3418144803459456
      ],
      "position_mm": [
        245.82134484849524,
        -112.989805720934,
        341.8144803459456
      ],
      "link": "FingerA",
      "normal": [
        0.0,
        -0.9375276894468237,
        0.34791066600565723
      ]
    },
    {
      "marker_id": 42,
      "position_m": [
        0.21313851633920347,
        -0.07865543411958996,
        0.3429171268365712
      ],
      "position_mm": [
        213.13851633920348,
        -78.65543411958996,
        342.91712683657124
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.26639724632687634,
        -0.07716301887876993,
        0.3425125327011995
      ],
      "position_mm": [
        266.3972463268763,
        -77.16301887876993,
        342.5125327011995
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 46,
      "position_m": [
        0.5367252419840535,
        0.18342644502069347,
        -0.03204468564099701
      ],
      "position_mm": [
        536.7252419840535,
        183.42644502069348,
        -32.04468564099701
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.3450167217459429,
        -0.28524738199896715,
        -0.030828288384598793
      ],
      "position_mm": [
        345.0167217459429,
        -285.24738199896717,
        -30.828288384598793
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 48,
      "position_m": [
        0.6876568696192393,
        -0.31897670815743934,
        -0.02737138419222086
      ],
      "position_mm": [
        687.6568696192394,
        -318.97670815743936,
        -27.37138419222086
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.4877756435476899,
        0.21117878003877885,
        -0.023910878794684953
      ],
      "position_mm": [
        487.77564354768987,
        211.17878003877885,
        -23.910878794684955
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.34041058508968663,
        -0.3288598490470794,
        -0.026249309942410204
      ],
      "position_mm": [
        340.41058508968666,
        -328.85984904707936,
        -26.249309942410203
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.28475564121300273,
        -0.2608820157518113,
        -0.027591645670426806
      ],
      "position_mm": [
        284.7556412130027,
        -260.8820157518113,
        -27.591645670426807
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.49877233743891924,
        0.16731923795173997,
        -0.026786643506593513
      ],
      "position_mm": [
        498.77233743891924,
        167.31923795173998,
        -26.786643506593514
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.05061178612135761,
        -0.21925219674701413,
        -0.01635369992375816
      ],
      "position_mm": [
        50.61178612135761,
        -219.25219674701412,
        -16.35369992375816
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.6249718924290136,
        -0.2774639052373043,
        -0.023834876495370937
      ],
      "position_mm": [
        624.9718924290137,
        -277.4639052373043,
        -23.834876495370935
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4034131462389746,
        -0.17250887390743488,
        -0.028340830151248147
      ],
      "position_mm": [
        403.4131462389746,
        -172.5088739074349,
        -28.340830151248145
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.776067211433407,
        -0.2358209940208264,
        -0.028005806110432283
      ],
      "position_mm": [
        776.067211433407,
        -235.8209940208264,
        -28.00580611043228
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.0196682896472174,
        -0.18877913493442328,
        -0.027177987045711758
      ],
      "position_mm": [
        -19.6682896472174,
        -188.77913493442327,
        -27.17798704571176
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 66,
      "position_m": [
        0.20990101100570693,
        -0.36554986725700506,
        -0.031235234453514487
      ],
      "position_mm": [
        209.90101100570692,
        -365.5498672570051,
        -31.235234453514487
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 68,
      "position_m": [
        0.5752205158507334,
        0.17384331008533974,
        -0.028069963209528464
      ],
      "position_mm": [
        575.2205158507334,
        173.84331008533974,
        -28.069963209528463
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005055825904406325,
        -0.27871149539302004,
        -0.02959742310407024
      ],
      "position_mm": [
        5.0558259044063245,
        -278.71149539302,
        -29.59742310407024
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44252512682412454,
        0.1938152001666075,
        -0.02843781686238341
      ],
      "position_mm": [
        442.5251268241245,
        193.8152001666075,
        -28.43781686238341
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.31142590294585104,
        -0.1582757703479308,
        -0.027799517515473025
      ],
      "position_mm": [
        311.425902945851,
        -158.2757703479308,
        -27.799517515473024
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 83,
      "position_m": [
        0.04526225685086036,
        0.3414739805823592,
        -0.027991635060826664
      ],
      "position_mm": [
        45.26225685086036,
        341.4739805823592,
        -27.991635060826663
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.505973153467833,
        -0.31429915241286355,
        -0.02697709292547302
      ],
      "position_mm": [
        505.973153467833,
        -314.2991524128635,
        -26.97709292547302
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.362415063734712,
        0.29455101000250267,
        -0.0285645647449186
      ],
      "position_mm": [
        362.415063734712,
        294.55101000250266,
        -28.5645647449186
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6483028936396439,
        -0.18528242101833736,
        -0.029115859491585096
      ],
      "position_mm": [
        648.3028936396439,
        -185.28242101833737,
        -29.115859491585095
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.1864991161603682,
        -0.2763803513498425,
        -0.02765581229648758
      ],
      "position_mm": [
        186.4991161603682,
        -276.3803513498425,
        -27.65581229648758
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3690914928435327,
        -0.1850358641217295,
        -0.0244771484345585
      ],
      "position_mm": [
        369.0914928435327,
        -185.0358641217295,
        -24.4771484345585
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 97,
      "position_m": [
        0.3041454738055172,
        -0.3599179576669994,
        -0.024300094231595404
      ],
      "position_mm": [
        304.1454738055172,
        -359.9179576669994,
        -24.300094231595402
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6520543020839196,
        -0.22350726071757107,
        -0.027655069176802227
      ],
      "position_mm": [
        652.0543020839195,
        -223.50726071757106,
        -27.655069176802225
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10536906145717122,
        -0.18980707548085982,
        -0.028697277725524738
      ],
      "position_mm": [
        105.36906145717121,
        -189.80707548085982,
        -28.69727772552474
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.16985495208878698,
        -0.052636108969331005,
        0.09101065713181708
      ],
      "position_mm": [
        169.85495208878697,
        -52.636108969331005,
        91.01065713181708
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6503942754361449,
        -0.010683299431850602,
        0.0003096656865467012
      ],
      "position_mm": [
        650.3942754361449,
        -10.683299431850603,
        0.3096656865467012
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35209074568731175,
        -0.09051537812513308,
        -0.0010759701878780242
      ],
      "position_mm": [
        352.09074568731177,
        -90.51537812513308,
        -1.0759701878780241
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02136476502021456,
        -0.020580424445136414,
        0.0009607943068401402
      ],
      "position_mm": [
        21.36476502021456,
        -20.580424445136416,
        0.9607943068401401
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.3481509646623004,
        -0.010613530223149757,
        -0.0006648380808693303
      ],
      "position_mm": [
        348.1509646623004,
        -10.613530223149757,
        -0.6648380808693303
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.25008897527204327,
        -0.08842466488662594,
        9.036845261401208e-05
      ],
      "position_mm": [
        250.08897527204326,
        -88.42466488662593,
        0.09036845261401208
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6468993569647254,
        -0.09060194040341714,
        -0.0005828019292359893
      ],
      "position_mm": [
        646.8993569647255,
        -90.60194040341715,
        -0.5828019292359894
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.16644412004925171,
        -0.14252181627873908,
        0.08802318074703473
      ],
      "position_mm": [
        166.44412004925172,
        -142.5218162787391,
        88.02318074703473
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.2590863032575714,
        -0.17707063549918162,
        0.05331914242883362
      ],
      "position_mm": [
        259.08630325757144,
        -177.0706354991816,
        53.31914242883362
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}