{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:50:49Z",
  "summary": {
    "num_cameras": 5,
    "num_markers": 41,
    "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": "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": [
        0.2160294787284087,
        -0.07773046635362876,
        0.34129480807960516
      ],
      "position_mm": [
        216.0294787284087,
        -77.73046635362876,
        341.29480807960516
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.2691379728975392,
        -0.07500922093226246,
        0.3399585038790244
      ],
      "position_mm": [
        269.1379728975392,
        -75.00922093226247,
        339.95850387902436
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 46,
      "position_m": [
        0.5362109908364111,
        0.18335960432213852,
        -0.030145384809771258
      ],
      "position_mm": [
        536.2109908364112,
        183.35960432213852,
        -30.145384809771258
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.3448121807651438,
        -0.2864181599380522,
        -0.029313378122866166
      ],
      "position_mm": [
        344.8121807651438,
        -286.4181599380522,
        -29.313378122866165
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16848239688042416,
        -0.17415671796152005,
        -0.02685481204753198
      ],
      "position_mm": [
        168.48239688042415,
        -174.15671796152006,
        -26.85481204753198
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.4867963552566906,
        0.21046063596573303,
        -0.02399297732764635
      ],
      "position_mm": [
        486.7963552566906,
        210.46063596573302,
        -23.99297732764635
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3379896206592833,
        -0.329663219984605,
        -0.024063848104795945
      ],
      "position_mm": [
        337.9896206592833,
        -329.663219984605,
        -24.063848104795944
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.28492456072755556,
        -0.26102340186924533,
        -0.027282989316555865
      ],
      "position_mm": [
        284.92456072755556,
        -261.02340186924533,
        -27.282989316555867
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.49828542002017423,
        0.16671463565022307,
        -0.026665727481101676
      ],
      "position_mm": [
        498.28542002017423,
        166.71463565022307,
        -26.665727481101676
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.04907499752822376,
        -0.21729490715071997,
        -0.02645701185222554
      ],
      "position_mm": [
        49.07499752822376,
        -217.29490715071998,
        -26.457011852225538
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 59,
      "position_m": [
        0.6246783915851393,
        -0.27750575779529024,
        -0.02364033324469166
      ],
      "position_mm": [
        624.6783915851393,
        -277.50575779529026,
        -23.640333244691657
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40403087676940086,
        -0.17412504510956173,
        -0.027557189936790103
      ],
      "position_mm": [
        404.03087676940083,
        -174.12504510956174,
        -27.557189936790103
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 63,
      "position_m": [
        0.7750457048929575,
        -0.23586449920475053,
        -0.027839292840374633
      ],
      "position_mm": [
        775.0457048929576,
        -235.86449920475053,
        -27.839292840374632
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.02218395616492924,
        -0.18724029110039464,
        -0.028436240941137243
      ],
      "position_mm": [
        -22.183956164929242,
        -187.24029110039464,
        -28.436240941137243
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 68,
      "position_m": [
        0.5748130429508692,
        0.17371352124373907,
        -0.027624432549097893
      ],
      "position_mm": [
        574.8130429508692,
        173.71352124373908,
        -27.624432549097893
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005284295664123107,
        -0.2794886712876376,
        -0.02711936042881591
      ],
      "position_mm": [
        5.284295664123107,
        -279.4886712876376,
        -27.11936042881591
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 71,
      "position_m": [
        0.750709202733575,
        -0.28544504277595767,
        -0.025693276243528736
      ],
      "position_mm": [
        750.709202733575,
        -285.4450427759577,
        -25.693276243528736
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.4413474105951778,
        0.19316439514682074,
        -0.026190527895263726
      ],
      "position_mm": [
        441.3474105951778,
        193.16439514682074,
        -26.190527895263727
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.3124565341871691,
        -0.15829008946385056,
        -0.027728633826234177
      ],
      "position_mm": [
        312.4565341871691,
        -158.29008946385056,
        -27.728633826234176
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5058306622660973,
        -0.31399530285054283,
        -0.026652577319193967
      ],
      "position_mm": [
        505.8306622660973,
        -313.9953028505428,
        -26.652577319193966
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.36145144027444925,
        0.29483379316242153,
        -0.026740252773690996
      ],
      "position_mm": [
        361.4514402744492,
        294.83379316242156,
        -26.740252773690997
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.647271734373128,
        -0.18534017497370192,
        -0.028422920000182896
      ],
      "position_mm": [
        647.271734373128,
        -185.34017497370192,
        -28.422920000182895
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18662235372401756,
        -0.27616200464489316,
        -0.027580629595449876
      ],
      "position_mm": [
        186.62235372401756,
        -276.16200464489316,
        -27.580629595449874
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3695215156365215,
        -0.18628816916511343,
        -0.024240734618024687
      ],
      "position_mm": [
        369.52151563652154,
        -186.28816916511343,
        -24.240734618024685
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6516371053645319,
        -0.2235249119757752,
        -0.027960860811445214
      ],
      "position_mm": [
        651.6371053645319,
        -223.5249119757752,
        -27.960860811445215
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.106660301195086,
        -0.1908132959587188,
        -0.027068384227986842
      ],
      "position_mm": [
        106.660301195086,
        -190.81329595871878,
        -27.068384227986844
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 105,
      "position_m": [
        0.5232818124146332,
        -0.2664249295804342,
        -0.028940230319106933
      ],
      "position_mm": [
        523.2818124146332,
        -266.4249295804342,
        -28.940230319106934
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.2707290176190384,
        -0.16086877292415244,
        0.23537069850022638
      ],
      "position_mm": [
        270.7290176190384,
        -160.86877292415244,
        235.37069850022638
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.17075001077320906,
        -0.053408441608835185,
        0.09117842108793174
      ],
      "position_mm": [
        170.75001077320906,
        -53.40844160883518,
        91.17842108793174
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 205,
      "position_m": [
        0.7526609559103067,
        -0.08998871501281683,
        0.00027113987868587286
      ],
      "position_mm": [
        752.6609559103067,
        -89.98871501281683,
        0.27113987868587286
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6495993217953471,
        -0.010556003667112762,
        0.0006627793129418416
      ],
      "position_mm": [
        649.5993217953471,
        -10.556003667112762,
        0.6627793129418416
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.3522977110430609,
        -0.09087304701540722,
        0.0010268013598250464
      ],
      "position_mm": [
        352.29771104306093,
        -90.87304701540721,
        1.0268013598250465
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02174430059822409,
        -0.019910292132940384,
        0.0004994701332380167
      ],
      "position_mm": [
        21.74430059822409,
        -19.910292132940384,
        0.49947013323801664
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.3478190865795862,
        -0.011001996717560329,
        0.00028100873820392384
      ],
      "position_mm": [
        347.8190865795862,
        -11.00199671756033,
        0.28100873820392386
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 217,
      "position_m": [
        0.6466727339517866,
        -0.09049522578667825,
        -0.00041259714074627467
      ],
      "position_mm": [
        646.6727339517865,
        -90.49522578667825,
        -0.4125971407462747
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.2277116899613585,
        -0.14986151599427383,
        0.1671063442547318
      ],
      "position_mm": [
        227.7116899613585,
        -149.86151599427384,
        167.10634425473182
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.16757670898470473,
        -0.1432078841076022,
        0.08607979636498043
      ],
      "position_mm": [
        167.57670898470474,
        -143.2078841076022,
        86.07979636498044
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 232,
      "position_m": [
        0.2582610671452466,
        -0.1677099501982248,
        0.028362962794904596
      ],
      "position_mm": [
        258.2610671452466,
        -167.7099501982248,
        28.362962794904597
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.17052684181652594,
        -0.174811334329484,
        0.04809879364129778
      ],
      "position_mm": [
        170.52684181652594,
        -174.811334329484,
        48.09879364129778
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.2621430456644787,
        -0.1775341010508641,
        0.05298086168713135
      ],
      "position_mm": [
        262.14304566447873,
        -177.53410105086408,
        52.98086168713135
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.22466820100495485,
        -0.17617979090428354,
        0.053159883764316115
      ],
      "position_mm": [
        224.66820100495485,
        -176.17979090428355,
        53.15988376431611
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}