{
  "schema_version": "1.2",
  "stage": "initial_triangulation",
  "created_utc": "2026-06-03T04:40:36Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 26,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "b",
      "position_m": [
        0.305490949597657,
        -0.8933107144337022,
        1.201793445382242
      ],
      "position_mm": [
        305.490949597657,
        -893.3107144337023,
        1201.793445382242
      ],
      "direction": [
        0.004346273839473724,
        0.6234733462333679,
        -0.7818325161933899
      ]
    },
    {
      "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": "e",
      "position_m": [
        1.199993510216928,
        -0.898854507188056,
        0.3991201451566491
      ],
      "position_mm": [
        1199.993510216928,
        -898.854507188056,
        399.12014515664913
      ],
      "direction": [
        -0.7501824498176575,
        0.6059012413024902,
        -0.26478278636932373
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 43,
      "position_m": [
        0.26980907858400516,
        -0.07524425963683119,
        0.3409330336052437
      ],
      "position_mm": [
        269.80907858400514,
        -75.24425963683119,
        340.9330336052437
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.3438423060818724,
        -0.28833615222916115,
        -0.027209420584880312
      ],
      "position_mm": [
        343.8423060818724,
        -288.33615222916114,
        -27.209420584880313
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16804981321102339,
        -0.1733799900891341,
        -0.02748128052900998
      ],
      "position_mm": [
        168.04981321102338,
        -173.3799900891341,
        -27.48128052900998
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.4880082904695001,
        0.21389565154479237,
        -0.026986771083692792
      ],
      "position_mm": [
        488.00829046950014,
        213.89565154479237,
        -26.98677108369279
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2846431254243168,
        -0.26102535945793826,
        -0.027238821765790188
      ],
      "position_mm": [
        284.6431254243168,
        -261.02535945793824,
        -27.23882176579019
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.04727298962704126,
        -0.21632616760154658,
        -0.027442870708785413
      ],
      "position_mm": [
        47.27298962704126,
        -216.3261676015466,
        -27.442870708785414
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.4018601146055114,
        -0.17314856125668296,
        -0.027218794488687848
      ],
      "position_mm": [
        401.8601146055114,
        -173.14856125668297,
        -27.21879448868785
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.01929411166559384,
        -0.18927720235693699,
        -0.0272085123618675
      ],
      "position_mm": [
        -19.29411166559384,
        -189.27720235693698,
        -27.2085123618675
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.0059179124076560626,
        -0.27757887054606795,
        -0.02731404086022691
      ],
      "position_mm": [
        5.917912407656063,
        -277.57887054606795,
        -27.314040860226907
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44162180198550477,
        0.19302554913836734,
        -0.027110037020901707
      ],
      "position_mm": [
        441.62180198550476,
        193.02554913836732,
        -27.110037020901707
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3115323340198245,
        -0.1597815651111644,
        -0.02730830836272231
      ],
      "position_mm": [
        311.5323340198245,
        -159.7815651111644,
        -27.30830836272231
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.3619853130739505,
        0.29505456942455066,
        -0.027012332663333156
      ],
      "position_mm": [
        361.98531307395046,
        295.05456942455066,
        -27.012332663333154
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18674180258274053,
        -0.2768565596113534,
        -0.027405768499737977
      ],
      "position_mm": [
        186.74180258274055,
        -276.8565596113534,
        -27.405768499737977
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3716209006618368,
        -0.18425057380444962,
        -0.027267606836818597
      ],
      "position_mm": [
        371.6209006618368,
        -184.25057380444963,
        -27.267606836818597
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10485516432525033,
        -0.19073556173708997,
        -0.027428081488004304
      ],
      "position_mm": [
        104.85516432525033,
        -190.73556173708997,
        -27.428081488004302
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.27091691491383285,
        -0.1602733011732324,
        0.23534733981910558
      ],
      "position_mm": [
        270.91691491383284,
        -160.2733011732324,
        235.34733981910557
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.1710771790919941,
        -0.05281255268867524,
        0.09121976870565049
      ],
      "position_mm": [
        171.0771790919941,
        -52.81255268867524,
        91.2197687056505
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6495284960619043,
        -0.010866335204295256,
        0.0008348343991377599
      ],
      "position_mm": [
        649.5284960619043,
        -10.866335204295256,
        0.8348343991377598
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3525498562062361,
        -0.08937869174305313,
        0.00044338138625253957
      ],
      "position_mm": [
        352.5498562062361,
        -89.37869174305312,
        0.4433813862525396
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02161519732338736,
        -0.02082736171917796,
        0.0010216985152197273
      ],
      "position_mm": [
        21.61519732338736,
        -20.827361719177958,
        1.0216985152197273
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34799327334889946,
        -0.011713301800665696,
        0.00044893700679546616
      ],
      "position_mm": [
        347.99327334889944,
        -11.713301800665695,
        0.44893700679546616
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.16757791713843403,
        -0.14267020404463265,
        0.08802620190023558
      ],
      "position_mm": [
        167.57791713843403,
        -142.67020404463264,
        88.02620190023558
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 232,
      "position_m": [
        0.25844388277665903,
        -0.16781991576284588,
        0.028678515729139983
      ],
      "position_mm": [
        258.44388277665905,
        -167.81991576284588,
        28.67851572913998
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.171086421218729,
        -0.176355527528134,
        0.0468494850050156
      ],
      "position_mm": [
        171.086421218729,
        -176.355527528134,
        46.8494850050156
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.26024033428953414,
        -0.17669288121317572,
        0.05243934170788427
      ],
      "position_mm": [
        260.24033428953413,
        -176.69288121317572,
        52.439341707884275
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.22637320015700613,
        -0.17656191329232196,
        0.05331705193954533
      ],
      "position_mm": [
        226.37320015700612,
        -176.56191329232195,
        53.31705193954533
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}