{ "schema_version": "1.2", "created_utc": "2026-06-03T04:39:48Z", "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": [ 0.21542773575540108, -0.0816805856056721, 0.34840956204253304 ], "position_mm": [ 215.42773575540107, -81.68058560567209, 348.409562042533 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 43, "position_m": [ 0.26779518117403195, -0.07576782746860053, 0.34054975911304697 ], "position_mm": [ 267.79518117403194, -75.76782746860053, 340.54975911304695 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 46, "position_m": [ 0.536464664946009, 0.18481001817935047, -0.03177017210394754 ], "position_mm": [ 536.464664946009, 184.81001817935046, -31.770172103947537 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 47, "position_m": [ 0.344115146246445, -0.2869800752970159, -0.028852962759469553 ], "position_mm": [ 344.115146246445, -286.9800752970159, -28.852962759469552 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.16834238416915687, -0.17423111287999474, -0.027008612128681588 ], "position_mm": [ 168.34238416915687, -174.23111287999473, -27.008612128681587 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.48739310470771174, 0.20893673830501017, -0.01962737337245644 ], "position_mm": [ 487.39310470771176, 208.93673830501018, -19.62737337245644 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.28449265554087183, -0.2609587842681896, -0.02695768438859336 ], "position_mm": [ 284.49265554087185, -260.95878426818956, -26.95768438859336 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 56, "position_m": [ 0.4995857622524323, 0.16606457450749226, -0.027761803767691506 ], "position_mm": [ 499.5857622524323, 166.06457450749227, -27.761803767691507 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.04831882922372415, -0.21615374783877503, -0.02707142682743955 ], "position_mm": [ 48.31882922372415, -216.15374783877502, -27.07142682743955 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 61, "position_m": [ -0.021390248125357402, 0.332224480628614, -0.025543439495448433 ], "position_mm": [ -21.390248125357402, 332.224480628614, -25.543439495448432 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4023950367838055, -0.17188811654267885, -0.030237883491782854 ], "position_mm": [ 402.3950367838055, -171.88811654267886, -30.237883491782853 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.02300088776278863, -0.18645175241059314, -0.03111358963976918 ], "position_mm": [ -23.00088776278863, -186.45175241059314, -31.11358963976918 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 68, "position_m": [ 0.5749032881401203, 0.17463280516573207, -0.028868712036958656 ], "position_mm": [ 574.9032881401203, 174.63280516573207, -28.868712036958655 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.005170628637819951, -0.2787976218817287, -0.027408089007417723 ], "position_mm": [ 5.170628637819951, -278.7976218817287, -27.408089007417722 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.4418618081523177, 0.19283255849510808, -0.025722701116456418 ], "position_mm": [ 441.8618081523177, 192.8325584951081, -25.722701116456417 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.3128595410553491, -0.16029141337658806, -0.023525443134459024 ], "position_mm": [ 312.8595410553491, -160.29141337658805, -23.525443134459024 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.18646003207005446, -0.27623290272443884, -0.02843921646554698 ], "position_mm": [ 186.46003207005447, -276.2329027244389, -28.43921646554698 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.3703929496278092, -0.1874260018055178, -0.02105767290065631 ], "position_mm": [ 370.39294962780923, -187.4260018055178, -21.05767290065631 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10665202395720111, -0.1913623868142891, -0.026474054285482763 ], "position_mm": [ 106.65202395720111, -191.3623868142891, -26.47405428548276 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 113, "position_m": [ 0.2695137614752352, -0.1604414429409129, 0.23432759026372232 ], "position_mm": [ 269.5137614752352, -160.4414429409129, 234.32759026372233 ], "link": "Arm2", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.3524888199168452, -0.09124999618132008, 0.0014155324463195175 ], "position_mm": [ 352.4888199168452, -91.24999618132009, 1.4155324463195176 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.022045433056616364, -0.019858751797094076, 0.0002536481273986841 ], "position_mm": [ 22.045433056616364, -19.858751797094076, 0.2536481273986841 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 211, "position_m": [ 0.2533153992191351, -0.011026134373696041, 0.0010377674587886355 ], "position_mm": [ 253.3153992191351, -11.02613437369604, 1.0377674587886356 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.347752922211745, -0.01139612359981864, 0.00045209009148285324 ], "position_mm": [ 347.752922211745, -11.39612359981864, 0.45209009148285323 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 229, "position_m": [ 0.16676514765818032, -0.14266946814141465, 0.08540817613769755 ], "position_mm": [ 166.76514765818033, -142.66946814141465, 85.40817613769755 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 243, "position_m": [ 0.1694102631284001, -0.17362632187776117, 0.04687646225756065 ], "position_mm": [ 169.4102631284001, -173.62632187776117, 46.87646225756065 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.26158022082252913, -0.1784514786220347, 0.05331207469314618 ], "position_mm": [ 261.58022082252916, -178.4514786220347, 53.31207469314618 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 248, "position_m": [ 0.2243268037959356, -0.1746239516903365, 0.05136770754342353 ], "position_mm": [ 224.32680379593558, -174.6239516903365, 51.36770754342353 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }