{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:42:38Z",
  "summary": {
    "num_cameras": 4,
    "num_markers": 44,
    "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": "e",
      "position_m": [
        1.199993510216928,
        -0.898854507188056,
        0.3991201451566491
      ],
      "position_mm": [
        1199.993510216928,
        -898.854507188056,
        399.12014515664913
      ],
      "direction": [
        -0.7501824498176575,
        0.6059012413024902,
        -0.26478278636932373
      ]
    },
    {
      "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": [
        0.2155105982976801,
        -0.0773033439838193,
        0.3412553457758975
      ],
      "position_mm": [
        215.5105982976801,
        -77.3033439838193,
        341.2553457758975
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.26862608358143647,
        -0.07469699611974072,
        0.33994638778680103
      ],
      "position_mm": [
        268.6260835814365,
        -74.69699611974072,
        339.94638778680104
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 46,
      "position_m": [
        0.5363124574407224,
        0.18345219909200666,
        -0.030268508607074616
      ],
      "position_mm": [
        536.3124574407224,
        183.45219909200665,
        -30.268508607074615
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.34385620204426937,
        -0.28613888834921236,
        -0.028164471652545375
      ],
      "position_mm": [
        343.85620204426937,
        -286.1388883492124,
        -28.164471652545377
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16854821352705143,
        -0.17397571361855502,
        -0.027105346414756756
      ],
      "position_mm": [
        168.54821352705144,
        -173.975713618555,
        -27.105346414756756
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.4873273127312587,
        0.2109984515264312,
        -0.026031077535777068
      ],
      "position_mm": [
        487.3273127312587,
        210.9984515264312,
        -26.03107753577707
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.34154276150856383,
        -0.3301444025979272,
        -0.02661488139513866
      ],
      "position_mm": [
        341.54276150856384,
        -330.1444025979272,
        -26.61488139513866
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.2839921505681509,
        -0.26061646296593416,
        -0.027501679434588144
      ],
      "position_mm": [
        283.9921505681509,
        -260.61646296593415,
        -27.501679434588144
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.4982585058262052,
        0.16704122179896577,
        -0.027092302710443886
      ],
      "position_mm": [
        498.2585058262052,
        167.04122179896578,
        -27.092302710443885
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.04896712483230012,
        -0.2169595427550688,
        -0.026724826368299724
      ],
      "position_mm": [
        48.967124832300115,
        -216.95954275506878,
        -26.724826368299723
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.625423660246389,
        -0.2775479330431685,
        -0.024207650551276653
      ],
      "position_mm": [
        625.423660246389,
        -277.5479330431685,
        -24.207650551276654
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40471494095035987,
        -0.1746233836995072,
        -0.025917646007571855
      ],
      "position_mm": [
        404.71494095035985,
        -174.6233836995072,
        -25.917646007571854
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7750428643074293,
        -0.2358662188444915,
        -0.027832323070877574
      ],
      "position_mm": [
        775.0428643074293,
        -235.8662188444915,
        -27.832323070877575
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.02243801210795576,
        -0.18726319882754786,
        -0.028839534877061833
      ],
      "position_mm": [
        -22.43801210795576,
        -187.26319882754785,
        -28.839534877061833
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 66,
      "position_m": [
        0.21094526761695437,
        -0.3649555063872007,
        -0.02720027592565203
      ],
      "position_mm": [
        210.94526761695437,
        -364.9555063872007,
        -27.20027592565203
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 68,
      "position_m": [
        0.574886980998473,
        0.17371486327413058,
        -0.027677969509085288
      ],
      "position_mm": [
        574.8869809984731,
        173.71486327413058,
        -27.677969509085287
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005310393341064464,
        -0.2792490252906063,
        -0.027212816586612846
      ],
      "position_mm": [
        5.310393341064464,
        -279.2490252906063,
        -27.212816586612846
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 71,
      "position_m": [
        0.7507067364128663,
        -0.28544702413039763,
        -0.025688109953722674
      ],
      "position_mm": [
        750.7067364128663,
        -285.4470241303976,
        -25.688109953722673
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.44190883800608904,
        0.19349863708181284,
        -0.026751226198081797
      ],
      "position_mm": [
        441.90883800608907,
        193.49863708181283,
        -26.751226198081795
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.31246192536784323,
        -0.15869378116137228,
        -0.026856992324552034
      ],
      "position_mm": [
        312.4619253678432,
        -158.69378116137227,
        -26.856992324552035
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5063406161716008,
        -0.3142941116049625,
        -0.02712469500564031
      ],
      "position_mm": [
        506.34061617160074,
        -314.2941116049625,
        -27.12469500564031
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.3618129598999682,
        0.29482352743748325,
        -0.027084719184273215
      ],
      "position_mm": [
        361.8129598999682,
        294.8235274374832,
        -27.084719184273215
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6467231145931281,
        -0.18518396823793715,
        -0.02804817787890485
      ],
      "position_mm": [
        646.7231145931281,
        -185.18396823793714,
        -28.04817787890485
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.186308128905209,
        -0.2760486791115681,
        -0.027700075592709858
      ],
      "position_mm": [
        186.308128905209,
        -276.0486791115681,
        -27.700075592709858
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.36986226014937496,
        -0.18621925862535266,
        -0.026728870327753607
      ],
      "position_mm": [
        369.86226014937495,
        -186.21925862535267,
        -26.728870327753608
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6518495655137226,
        -0.22327661701576063,
        -0.02816569439559186
      ],
      "position_mm": [
        651.8495655137226,
        -223.27661701576062,
        -28.16569439559186
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10688191919339521,
        -0.1911993942859225,
        -0.02682968429519007
      ],
      "position_mm": [
        106.8819191933952,
        -191.1993942859225,
        -26.82968429519007
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 105,
      "position_m": [
        0.523998990382438,
        -0.26681395632552357,
        -0.029680577843804973
      ],
      "position_mm": [
        523.998990382438,
        -266.8139563255236,
        -29.680577843804972
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.3558577169689322,
        -0.27227019732337365,
        0.2763200141706028
      ],
      "position_mm": [
        355.8577169689322,
        -272.2701973233737,
        276.3200141706028
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 124,
      "position_m": [
        0.3987082984091074,
        -0.3091929979470571,
        0.2934907018011881
      ],
      "position_mm": [
        398.7082984091074,
        -309.1929979470571,
        293.4907018011881
      ],
      "link": "Arm2",
      "normal": [
        -1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.13319006505318298,
        -0.057469292687006436,
        0.10276216625903341
      ],
      "position_mm": [
        133.190065053183,
        -57.46929268700644,
        102.7621662590334
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 205,
      "position_m": [
        0.7526609442755252,
        -0.08998872249344166,
        0.0002711640021294597
      ],
      "position_mm": [
        752.6609442755253,
        -89.98872249344166,
        0.2711640021294597
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6492182886644297,
        -0.010459420117462807,
        0.0004392700775205454
      ],
      "position_mm": [
        649.2182886644297,
        -10.459420117462807,
        0.43927007752054537
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35230323072197467,
        -0.0907031695290026,
        0.0005145747613987312
      ],
      "position_mm": [
        352.30323072197467,
        -90.70316952900261,
        0.5145747613987313
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 211,
      "position_m": [
        0.2524811630593477,
        -0.008935924394476434,
        -2.4565803098217112e-05
      ],
      "position_mm": [
        252.4811630593477,
        -8.935924394476434,
        -0.024565803098217112
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.34740508650787255,
        -0.010854512003340151,
        6.917226783318683e-05
      ],
      "position_mm": [
        347.40508650787257,
        -10.854512003340151,
        0.06917226783318683
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 215,
      "position_m": [
        0.25063144328395603,
        -0.08891442736446793,
        0.00010735067892419262
      ],
      "position_mm": [
        250.63144328395603,
        -88.91442736446793,
        0.10735067892419262
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6464525134431961,
        -0.09041126361168857,
        0.0002106177049716419
      ],
      "position_mm": [
        646.4525134431962,
        -90.41126361168857,
        0.2106177049716419
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.16490550028540127,
        -0.13963926361167836,
        0.08426147841881737
      ],
      "position_mm": [
        164.90550028540127,
        -139.63926361167836,
        84.26147841881738
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 232,
      "position_m": [
        0.19998359327337445,
        -0.06547534126792727,
        -0.007334338184082904
      ],
      "position_mm": [
        199.98359327337445,
        -65.47534126792728,
        -7.334338184082903
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.16791510357489225,
        -0.17170485309961112,
        0.04667466325394509
      ],
      "position_mm": [
        167.91510357489224,
        -171.7048530996111,
        46.67466325394509
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 244,
      "position_m": [
        0.2581747434970646,
        -0.09019231604772637,
        0.013891036839572813
      ],
      "position_mm": [
        258.1747434970646,
        -90.19231604772638,
        13.891036839572813
      ],
      "link": "Ellbow",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.21011002164845174,
        -0.08837293560683812,
        0.002201210478429109
      ],
      "position_mm": [
        210.11002164845175,
        -88.37293560683813,
        2.2012104784291093
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.19505743915273516,
        -0.11970074514107416,
        0.016283792309293443
      ],
      "position_mm": [
        195.05743915273516,
        -119.70074514107417,
        16.283792309293442
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}