{
  "schema_version": "1.2",
  "stage": "initial_triangulation",
  "created_utc": "2026-06-03T04:40:18Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 22,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "a",
      "position_m": [
        -0.2965491449045601,
        -0.7989052137066848,
        0.801398161144361
      ],
      "position_mm": [
        -296.5491449045601,
        -798.9052137066848,
        801.398161144361
      ],
      "direction": [
        0.4766221344470978,
        0.6572697162628174,
        -0.5838046073913574
      ]
    },
    {
      "camera_id": "c",
      "position_m": [
        0.3037280320901282,
        -0.9002284925907265,
        0.4042794227519738
      ],
      "position_mm": [
        303.72803209012824,
        -900.2284925907264,
        404.2794227519738
      ],
      "direction": [
        -0.1104506105184555,
        0.9474959373474121,
        -0.3000868856906891
      ]
    },
    {
      "camera_id": "g",
      "position_m": [
        -0.2079076335893077,
        0.203381580310826,
        1.4005239466434216
      ],
      "position_mm": [
        -207.9076335893077,
        203.38158031082602,
        1400.5239466434216
      ],
      "direction": [
        0.3016498386859894,
        -0.2984168231487274,
        -0.9055135250091553
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 42,
      "position_m": [
        0.21532336484814485,
        -0.07831139166635705,
        0.3412071713696926
      ],
      "position_mm": [
        215.32336484814485,
        -78.31139166635705,
        341.20717136969256
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.26831896975418434,
        -0.07543104452862018,
        0.3399470672880504
      ],
      "position_mm": [
        268.31896975418437,
        -75.43104452862018,
        339.9470672880504
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.34383163581279325,
        -0.2882353479764762,
        -0.027210353628036716
      ],
      "position_mm": [
        343.83163581279325,
        -288.2353479764762,
        -27.210353628036717
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16774562403325896,
        -0.17443442579650958,
        -0.026309396164112687
      ],
      "position_mm": [
        167.74562403325896,
        -174.43442579650957,
        -26.309396164112687
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.34004134656662477,
        -0.32769857979122746,
        -0.027061135668293608
      ],
      "position_mm": [
        340.0413465666248,
        -327.6985797912275,
        -27.06113566829361
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2846930382246604,
        -0.2610387805594244,
        -0.02725017924946147
      ],
      "position_mm": [
        284.6930382246604,
        -261.0387805594244,
        -27.25017924946147
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.019636585530208958,
        -0.1898319417098827,
        -0.02620977462397616
      ],
      "position_mm": [
        -19.636585530208958,
        -189.8319417098827,
        -26.20977462397616
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3114358473040048,
        -0.15996331172210346,
        -0.0268820491336908
      ],
      "position_mm": [
        311.4358473040048,
        -159.96331172210347,
        -26.8820491336908
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5064961650428078,
        -0.3135029684683293,
        -0.02734148293995093
      ],
      "position_mm": [
        506.49616504280783,
        -313.5029684683293,
        -27.34148293995093
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.36103686598366075,
        0.29460603609794433,
        -0.026477773889341135
      ],
      "position_mm": [
        361.03686598366073,
        294.60603609794435,
        -26.477773889341137
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6467466725075638,
        -0.18687706160756462,
        -0.02765505889685755
      ],
      "position_mm": [
        646.7466725075637,
        -186.87706160756463,
        -27.65505889685755
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6514052993105747,
        -0.22371657744952037,
        -0.027752992548264445
      ],
      "position_mm": [
        651.4052993105747,
        -223.71657744952037,
        -27.752992548264444
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 105,
      "position_m": [
        0.5225305479185682,
        -0.26800741246890014,
        -0.027471367333090194
      ],
      "position_mm": [
        522.5305479185682,
        -268.00741246890016,
        -27.471367333090193
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.2706273352562816,
        -0.16120701122761183,
        0.23599182453395354
      ],
      "position_mm": [
        270.6273352562816,
        -161.20701122761182,
        235.99182453395355
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.17037152390863064,
        -0.05256004197916701,
        0.0910178543781913
      ],
      "position_mm": [
        170.37152390863065,
        -52.56004197916701,
        91.0178543781913
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3523371698682723,
        -0.08911966253426666,
        0.00043511843462696036
      ],
      "position_mm": [
        352.33716986827227,
        -89.11966253426667,
        0.43511843462696037
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.021455409151936257,
        -0.02218483931692305,
        0.0018656822723091648
      ],
      "position_mm": [
        21.45540915193626,
        -22.184839316923053,
        1.8656822723091648
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.22774116662740318,
        -0.14984788710523844,
        0.16714853404482394
      ],
      "position_mm": [
        227.74116662740317,
        -149.84788710523844,
        167.14853404482395
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.16678099694765347,
        -0.14166062411842692,
        0.08804058455741141
      ],
      "position_mm": [
        166.78099694765348,
        -141.6606241184269,
        88.0405845574114
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.17075908651128974,
        -0.177317939601839,
        0.04787311526937135
      ],
      "position_mm": [
        170.75908651128972,
        -177.31793960183902,
        47.873115269371354
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.26016315529859446,
        -0.17724383385542108,
        0.05312657633559525
      ],
      "position_mm": [
        260.16315529859446,
        -177.2438338554211,
        53.126576335595246
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.22611887818732404,
        -0.17731410708817932,
        0.05403606984300807
      ],
      "position_mm": [
        226.11887818732404,
        -177.31410708817933,
        54.03606984300807
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}