{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:38:10Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 34,
    "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": "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": [
        0.21551059834243805,
        -0.07730334395429647,
        0.34125534557682885
      ],
      "position_mm": [
        215.51059834243804,
        -77.30334395429647,
        341.25534557682886
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.2691321764052603,
        -0.07421665637576941,
        0.3402536862419625
      ],
      "position_mm": [
        269.13217640526034,
        -74.2166563757694,
        340.2536862419625
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 46,
      "position_m": [
        0.5362501651735476,
        0.18339967519407635,
        -0.030215834863044067
      ],
      "position_mm": [
        536.2501651735477,
        183.39967519407634,
        -30.215834863044066
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.34381782912390696,
        -0.2880961711559891,
        -0.027290029056189692
      ],
      "position_mm": [
        343.81782912390696,
        -288.0961711559891,
        -27.29002905618969
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.1684335252257811,
        -0.17474192783872994,
        -0.025943984080950583
      ],
      "position_mm": [
        168.4335252257811,
        -174.74192783872994,
        -25.94398408095058
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.48731641245648677,
        0.2106976367530043,
        -0.024517337425158502
      ],
      "position_mm": [
        487.3164124564868,
        210.6976367530043,
        -24.5173374251585
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2846829572455501,
        -0.26091898299740696,
        -0.02719356494866932
      ],
      "position_mm": [
        284.6829572455501,
        -260.91898299740694,
        -27.19356494866932
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.4983001531686023,
        0.16679945406844127,
        -0.026789306600242705
      ],
      "position_mm": [
        498.3001531686023,
        166.79945406844126,
        -26.789306600242703
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.049517924399904406,
        -0.21770179541806878,
        -0.02432918833637177
      ],
      "position_mm": [
        49.51792439990441,
        -217.70179541806877,
        -24.329188336371768
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.6254344165240472,
        -0.2775264107031293,
        -0.02420696506536197
      ],
      "position_mm": [
        625.4344165240472,
        -277.5264107031293,
        -24.20696506536197
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7750457048895091,
        -0.2358644992051256,
        -0.027839292834522394
      ],
      "position_mm": [
        775.0457048895091,
        -235.86449920512558,
        -27.839292834522393
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.02167963479904077,
        -0.1876407503766162,
        -0.027833999549415206
      ],
      "position_mm": [
        -21.67963479904077,
        -187.6407503766162,
        -27.833999549415207
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 68,
      "position_m": [
        0.5748391086074109,
        0.17371452969389575,
        -0.027644470824167655
      ],
      "position_mm": [
        574.8391086074109,
        173.71452969389574,
        -27.644470824167655
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005167281094073123,
        -0.27947151070514925,
        -0.026244610465237496
      ],
      "position_mm": [
        5.167281094073123,
        -279.4715107051492,
        -26.244610465237496
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 71,
      "position_m": [
        0.7507092027303749,
        -0.28544504277645233,
        -0.02569327623762302
      ],
      "position_mm": [
        750.7092027303748,
        -285.44504277645234,
        -25.69327623762302
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44191160344562536,
        0.19345445355915727,
        -0.027783959570358015
      ],
      "position_mm": [
        441.91160344562536,
        193.4544535591573,
        -27.783959570358014
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3118139147452391,
        -0.15712540496898478,
        -0.02854641479554948
      ],
      "position_mm": [
        311.8139147452391,
        -157.12540496898478,
        -28.54641479554948
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.3616680804091181,
        0.29469065678573864,
        -0.026646098480851966
      ],
      "position_mm": [
        361.6680804091181,
        294.6906567857386,
        -26.646098480851965
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6467050120208795,
        -0.18514587835911092,
        -0.027938736278586614
      ],
      "position_mm": [
        646.7050120208795,
        -185.14587835911092,
        -27.938736278586614
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18671979773555814,
        -0.2767150792181794,
        -0.027266016346216723
      ],
      "position_mm": [
        186.71979773555813,
        -276.71507921817937,
        -27.266016346216723
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6518261725086448,
        -0.2232387297034463,
        -0.028168452749415214
      ],
      "position_mm": [
        651.8261725086448,
        -223.2387297034463,
        -28.168452749415213
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10628218785328897,
        -0.18985553562912952,
        -0.028816452947612377
      ],
      "position_mm": [
        106.28218785328897,
        -189.85553562912952,
        -28.816452947612376
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 105,
      "position_m": [
        0.5238591553545745,
        -0.2677959715773385,
        -0.02867011937232499
      ],
      "position_mm": [
        523.8591553545745,
        -267.7959715773385,
        -28.67011937232499
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.2710608091184801,
        -0.1601155837319222,
        0.2363079801799334
      ],
      "position_mm": [
        271.06080911848005,
        -160.1155837319222,
        236.3079801799334
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.17069666105751996,
        -0.05272634378930672,
        0.09101112933794131
      ],
      "position_mm": [
        170.69666105751995,
        -52.72634378930672,
        91.01112933794131
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 205,
      "position_m": [
        0.752660955910329,
        -0.08998871501281883,
        0.00027113987854856077
      ],
      "position_mm": [
        752.660955910329,
        -89.98871501281883,
        0.27113987854856075
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3522184554937163,
        -0.09032748048729088,
        0.000860351005968384
      ],
      "position_mm": [
        352.21845549371625,
        -90.32748048729087,
        0.860351005968384
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.021117607788296484,
        -0.019904123755597785,
        0.00043478293094310677
      ],
      "position_mm": [
        21.117607788296485,
        -19.904123755597784,
        0.43478293094310677
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34806971101047784,
        -0.010441595281939012,
        -0.00015590899160642318
      ],
      "position_mm": [
        348.0697110104778,
        -10.441595281939012,
        -0.1559089916064232
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6465682752156716,
        -0.09024776120128528,
        -0.00010300838026744087
      ],
      "position_mm": [
        646.5682752156716,
        -90.24776120128527,
        -0.10300838026744087
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.16730752088331466,
        -0.14254430106396104,
        0.08640141196449919
      ],
      "position_mm": [
        167.30752088331465,
        -142.54430106396103,
        86.40141196449919
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.17007403957382927,
        -0.1722862616496266,
        0.04693272735752047
      ],
      "position_mm": [
        170.07403957382928,
        -172.2862616496266,
        46.93272735752047
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.26137375069247665,
        -0.1808040501994799,
        0.05569172375284236
      ],
      "position_mm": [
        261.3737506924766,
        -180.8040501994799,
        55.691723752842364
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.2251435164806013,
        -0.17220234890993558,
        0.05126160106923872
      ],
      "position_mm": [
        225.1435164806013,
        -172.20234890993558,
        51.26160106923872
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}