{
  "schema_version": "1.2",
  "stage": "initial_triangulation",
  "created_utc": "2026-06-03T04:39:46Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 28,
    "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": "d",
      "position_m": [
        0.6998694007459306,
        -0.7986960051436206,
        0.3960629812496366
      ],
      "position_mm": [
        699.8694007459306,
        -798.6960051436206,
        396.0629812496366
      ],
      "direction": [
        -0.551314651966095,
        0.7866094708442688,
        -0.2780245542526245
      ]
    },
    {
      "camera_id": "f",
      "position_m": [
        0.4868524979390756,
        -0.3053064794581952,
        1.4026599785486356
      ],
      "position_mm": [
        486.8524979390756,
        -305.3064794581952,
        1402.6599785486355
      ],
      "direction": [
        -0.2289382964372635,
        0.08377356827259064,
        -0.9698294997215271
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 42,
      "position_m": [
        0.21587735650560555,
        -0.08180287618645059,
        0.34834542877660435
      ],
      "position_mm": [
        215.87735650560555,
        -81.80287618645059,
        348.34542877660436
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.26645606107363484,
        -0.07576795485444701,
        0.339400583160527
      ],
      "position_mm": [
        266.4560610736348,
        -75.76795485444701,
        339.400583160527
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 46,
      "position_m": [
        0.5348106430637829,
        0.1825502841513854,
        -0.02768532498897306
      ],
      "position_mm": [
        534.8106430637829,
        182.5502841513854,
        -27.68532498897306
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.3438522552160849,
        -0.2885047305376985,
        -0.02640210936703725
      ],
      "position_mm": [
        343.8522552160849,
        -288.5047305376985,
        -26.40210936703725
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16801413362261808,
        -0.17341958129904073,
        -0.02748457394870072
      ],
      "position_mm": [
        168.0141336226181,
        -173.41958129904071,
        -27.48457394870072
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.48839115091090973,
        0.21476218063272817,
        -0.027494087711813
      ],
      "position_mm": [
        488.39115091090974,
        214.76218063272816,
        -27.494087711813002
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2845919195249989,
        -0.2610767634604542,
        -0.026685739439427633
      ],
      "position_mm": [
        284.5919195249989,
        -261.07676346045423,
        -26.685739439427632
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.5004907822024012,
        0.16521096374908842,
        -0.02767281665557336
      ],
      "position_mm": [
        500.4907822024012,
        165.21096374908842,
        -27.67281665557336
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.04706495163961068,
        -0.21635081578262566,
        -0.02769273463502394
      ],
      "position_mm": [
        47.064951639610676,
        -216.35081578262566,
        -27.69273463502394
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 61,
      "position_m": [
        -0.021385908190356694,
        0.33222396227830603,
        -0.02554538782134809
      ],
      "position_mm": [
        -21.385908190356695,
        332.22396227830603,
        -25.54538782134809
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40190749256018166,
        -0.1733662984771092,
        -0.02656077962229754
      ],
      "position_mm": [
        401.90749256018165,
        -173.36629847710918,
        -26.560779622297538
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.0194983904536053,
        -0.18921328160811518,
        -0.02761271846765129
      ],
      "position_mm": [
        -19.4983904536053,
        -189.21328160811518,
        -27.61271846765129
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 68,
      "position_m": [
        0.5753848534354601,
        0.17377269046051366,
        -0.027545729903645243
      ],
      "position_mm": [
        575.3848534354601,
        173.77269046051367,
        -27.545729903645242
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005582580340470129,
        -0.2772887330050145,
        -0.027944485302570404
      ],
      "position_mm": [
        5.582580340470129,
        -277.2887330050145,
        -27.944485302570403
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.4414737700834735,
        0.19283513277380812,
        -0.025738678620560142
      ],
      "position_mm": [
        441.4737700834735,
        192.8351327738081,
        -25.738678620560144
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.31149811888686524,
        -0.1597331818289365,
        -0.027094539155817943
      ],
      "position_mm": [
        311.49811888686526,
        -159.7331818289365,
        -27.09453915581794
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.1867226783224216,
        -0.2769355790989259,
        -0.027001593715818294
      ],
      "position_mm": [
        186.7226783224216,
        -276.9355790989259,
        -27.001593715818295
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.37169416097443475,
        -0.18429222906218365,
        -0.026808775440394863
      ],
      "position_mm": [
        371.69416097443474,
        -184.29222906218365,
        -26.808775440394864
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10459634018875733,
        -0.19079855855568256,
        -0.027660771314922398
      ],
      "position_mm": [
        104.59634018875732,
        -190.79855855568258,
        -27.660771314922396
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.2684232424528133,
        -0.160820166915975,
        0.23390823950960882
      ],
      "position_mm": [
        268.42324245281327,
        -160.820166915975,
        233.90823950960882
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35221149926622664,
        -0.08946162842937927,
        0.0005328908747461607
      ],
      "position_mm": [
        352.2114992662266,
        -89.46162842937927,
        0.5328908747461607
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.022223456081047907,
        -0.020634753508579566,
        0.0011953198210950045
      ],
      "position_mm": [
        22.223456081047907,
        -20.634753508579568,
        1.1953198210950045
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 211,
      "position_m": [
        0.2532157866043679,
        -0.011082938639911824,
        0.00104315740024849
      ],
      "position_mm": [
        253.21578660436788,
        -11.082938639911823,
        1.04315740024849
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34789393805935925,
        -0.01231419907882714,
        0.0009463559176278863
      ],
      "position_mm": [
        347.89393805935924,
        -12.31419907882714,
        0.9463559176278863
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.16616822400091844,
        -0.14210174628031114,
        0.08663121772572151
      ],
      "position_mm": [
        166.16822400091843,
        -142.10174628031115,
        86.63121772572151
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.17088133858055998,
        -0.17618660514331289,
        0.046362777195412846
      ],
      "position_mm": [
        170.88133858055997,
        -176.18660514331287,
        46.362777195412846
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.26009722671056434,
        -0.1764327390409278,
        0.05198776225285732
      ],
      "position_mm": [
        260.09722671056437,
        -176.4327390409278,
        51.987762252857316
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.2261655514859324,
        -0.17636982575433624,
        0.05283607093741663
      ],
      "position_mm": [
        226.1655514859324,
        -176.36982575433623,
        52.83607093741663
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}