{ "schema_version": "1.2", "created_utc": "2026-06-03T04:49:04Z", "summary": { "num_cameras": 5, "num_markers": 36, "num_constraints": 94 }, "cameras": [ { "camera_id": "a", "position_m": [ -0.2965491449045601, -0.7989052137066848, 0.801398161144361 ], "position_mm": [ -296.5491449045601, -798.9052137066848, 801.398161144361 ], "direction": [ 0.4766221344470978, 0.6572697162628174, -0.5838046073913574 ] }, { "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": "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 ] } ], "markers": [ { "marker_id": 42, "position_m": [ 0.2174698767850067, -0.07665916873219263, 0.34092592234906555 ], "position_mm": [ 217.4698767850067, -76.65916873219263, 340.92592234906556 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 43, "position_m": [ 0.2693999572090953, -0.07536996493953378, 0.34026363147374833 ], "position_mm": [ 269.3999572090953, -75.36996493953379, 340.2636314737483 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 47, "position_m": [ 0.3444927298740946, -0.2860149696157257, -0.028597969891930843 ], "position_mm": [ 344.4927298740946, -286.0149696157257, -28.59796989193084 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.16835373779604038, -0.17394133648793436, -0.0270352845198919 ], "position_mm": [ 168.35373779604038, -173.94133648793436, -27.0352845198919 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.48650776811244956, 0.21322698534527934, -0.02694265669819523 ], "position_mm": [ 486.5077681124496, 213.22698534527933, -26.94265669819523 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.3399495381509232, -0.32980456545878295, -0.02613536908306959 ], "position_mm": [ 339.9495381509232, -329.804565458783, -26.13536908306959 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.2844287891321005, -0.26099982605475636, -0.02714752792894748 ], "position_mm": [ 284.4287891321005, -260.99982605475634, -27.14752792894748 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.04842694047221288, -0.2163682157015172, -0.02712967035492292 ], "position_mm": [ 48.426940472212884, -216.36821570151722, -27.12967035492292 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4041457931558309, -0.1734551658347841, -0.027112635062307825 ], "position_mm": [ 404.14579315583086, -173.4551658347841, -27.112635062307824 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.022814302084932486, -0.186285472611309, -0.029312284587685394 ], "position_mm": [ -22.814302084932486, -186.28547261130902, -29.312284587685394 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.005575956865964073, -0.27921658491388723, -0.02702114700992363 ], "position_mm": [ 5.575956865964073, -279.21658491388723, -27.02114700992363 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.44183073420908364, 0.19389959521586275, -0.026826321890198068 ], "position_mm": [ 441.83073420908363, 193.89959521586275, -26.826321890198066 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.3120438416230885, -0.15864261501722574, -0.02733134922259998 ], "position_mm": [ 312.0438416230885, -158.64261501722572, -27.331349222599982 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5061520681970646, -0.31416524939623935, -0.027109407999627286 ], "position_mm": [ 506.1520681970646, -314.16524939623935, -27.109407999627287 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 86, "position_m": [ 0.361643168144069, 0.29553314170371275, -0.02730251243689264 ], "position_mm": [ 361.64316814406897, 295.5331417037128, -27.30251243689264 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.6472577393110632, -0.18601930458143737, -0.028666186394845042 ], "position_mm": [ 647.2577393110632, -186.01930458143735, -28.66618639484504 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.18620135705476584, -0.27599598823090216, -0.02802150301548281 ], "position_mm": [ 186.20135705476585, -275.9959882309021, -28.02150301548281 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.36957632153632813, -0.18587424364123648, -0.0263725179806252 ], "position_mm": [ 369.5763215363281, -185.87424364123646, -26.3725179806252 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6507411369325763, -0.22425393446165404, -0.02684305802505755 ], "position_mm": [ 650.7411369325763, -224.25393446165404, -26.843058025057548 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10691569734008606, -0.19195128800581301, -0.026350082158237306 ], "position_mm": [ 106.91569734008606, -191.951288005813, -26.350082158237306 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 105, "position_m": [ 0.5229246752410188, -0.26634642941962683, -0.029290254035506932 ], "position_mm": [ 522.9246752410188, -266.3464294196268, -29.290254035506933 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 113, "position_m": [ 0.3136237658638817, -0.26021935981695427, 0.26825694707737036 ], "position_mm": [ 313.6237658638817, -260.21935981695424, 268.25694707737034 ], "link": "Arm2", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 124, "position_m": [ 0.3503434862247354, -0.304956338988577, 0.28030400010541967 ], "position_mm": [ 350.3434862247354, -304.956338988577, 280.3040001054197 ], "link": "Arm2", "normal": [ -1.0, 0.0, 0.0 ] }, { "marker_id": 198, "position_m": [ 0.15451607455392707, -0.056488192239826825, 0.09505010247973339 ], "position_mm": [ 154.51607455392707, -56.48819223982682, 95.05010247973338 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 206, "position_m": [ 0.6493144914632079, -0.010769274073654562, 0.0006234360454157223 ], "position_mm": [ 649.3144914632079, -10.769274073654563, 0.6234360454157223 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.3526478990746198, -0.09159344567613553, 0.0012164524678226864 ], "position_mm": [ 352.6478990746198, -91.59344567613553, 1.2164524678226865 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.02176862434028051, -0.01920476437489566, 5.9313260128650905e-05 ], "position_mm": [ 21.76862434028051, -19.20476437489566, 0.0593132601286509 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 211, "position_m": [ 0.2528657973849879, -0.009462982305709463, 0.00021905305763565022 ], "position_mm": [ 252.86579738498787, -9.462982305709463, 0.21905305763565022 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.3479023176759036, -0.011737296391001208, 0.0005275266505898441 ], "position_mm": [ 347.90231767590365, -11.737296391001209, 0.527526650589844 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 218, "position_m": [ 0.22771168994177285, -0.1498615160553389, 0.1671063442927187 ], "position_mm": [ 227.71168994177285, -149.8615160553389, 167.1063442927187 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 229, "position_m": [ 0.16805248813591347, -0.1451180018070119, 0.08720741802958355 ], "position_mm": [ 168.05248813591348, -145.1180018070119, 87.20741802958355 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 232, "position_m": [ 0.2266934985916154, -0.06128502551990053, -0.0022288083049223557 ], "position_mm": [ 226.6934985916154, -61.28502551990053, -2.2288083049223557 ], "link": "Ellbow", "normal": [ 0.0, 0.7071067811865475, -0.7071067811865475 ] }, { "marker_id": 243, "position_m": [ 0.1706137291576071, -0.17529780363385472, 0.04805828005968774 ], "position_mm": [ 170.6137291576071, -175.29780363385473, 48.058280059687746 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 244, "position_m": [ 0.27950395184879007, -0.08596190871747754, 0.022143697524409877 ], "position_mm": [ 279.50395184879005, -85.96190871747754, 22.143697524409877 ], "link": "Ellbow", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.2333562221566425, -0.08641771909159775, 0.004248485787773772 ], "position_mm": [ 233.3562221566425, -86.41771909159775, 4.248485787773772 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 248, "position_m": [ 0.22194952889952932, -0.11936118970398105, 0.018071924277031814 ], "position_mm": [ 221.94952889952933, -119.36118970398104, 18.071924277031815 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }