{
  "schema_version": "1.2",
  "created_utc": "2026-06-03T04:52:54Z",
  "summary": {
    "num_cameras": 6,
    "num_markers": 43,
    "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
      ]
    },
    {
      "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": [
        0.2146720609134531,
        -0.0804207197417834,
        0.3441502521271945
      ],
      "position_mm": [
        214.6720609134531,
        -80.4207197417834,
        344.1502521271945
      ],
      "link": "FingerA",
      "normal": [
        0.8830215713766957,
        -0.3090575499818435,
        0.3532086285506783
      ]
    },
    {
      "marker_id": 43,
      "position_m": [
        0.2682604524312279,
        -0.07599934107293731,
        0.3406795579539153
      ],
      "position_mm": [
        268.2604524312279,
        -75.99934107293731,
        340.6795579539153
      ],
      "link": "FingerB",
      "normal": [
        0.4224220616915755,
        0.0,
        0.9063992507699015
      ]
    },
    {
      "marker_id": 46,
      "position_m": [
        0.5368338961849932,
        0.185354217385357,
        -0.03244831351579197
      ],
      "position_mm": [
        536.8338961849933,
        185.354217385357,
        -32.44831351579197
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 47,
      "position_m": [
        0.3444290544870865,
        -0.2859883614671768,
        -0.028634299069574765
      ],
      "position_mm": [
        344.4290544870865,
        -285.98836146717684,
        -28.634299069574766
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16829146646768986,
        -0.1737119611348803,
        -0.02716360688287463
      ],
      "position_mm": [
        168.29146646768987,
        -173.7119611348803,
        -27.16360688287463
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 53,
      "position_m": [
        0.4875098545749199,
        0.211299908537067,
        -0.0256486643271529
      ],
      "position_mm": [
        487.5098545749199,
        211.299908537067,
        -25.6486643271529
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 54,
      "position_m": [
        0.3398930262179079,
        -0.3297750660752417,
        -0.026108692518121732
      ],
      "position_mm": [
        339.8930262179079,
        -329.7750660752417,
        -26.10869251812173
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 55,
      "position_m": [
        0.284362009638772,
        -0.26098291128494705,
        -0.027146035152862572
      ],
      "position_mm": [
        284.362009638772,
        -260.982911284947,
        -27.146035152862574
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 56,
      "position_m": [
        0.4992117992597224,
        0.16779716279708348,
        -0.030489020137941795
      ],
      "position_mm": [
        499.2117992597224,
        167.79716279708347,
        -30.489020137941797
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 58,
      "position_m": [
        0.04862282116758088,
        -0.21662710774901967,
        -0.0267454304878946
      ],
      "position_mm": [
        48.62282116758088,
        -216.62710774901967,
        -26.745430487894602
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 61,
      "position_m": [
        -0.021390267919251138,
        0.33222452111915685,
        -0.02554350177674113
      ],
      "position_mm": [
        -21.390267919251137,
        332.22452111915686,
        -25.54350177674113
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40411143398059945,
        -0.17329075005005146,
        -0.027171254023221503
      ],
      "position_mm": [
        404.11143398059943,
        -173.29075005005146,
        -27.171254023221504
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.022673240451837197,
        -0.1867031791168643,
        -0.029289502038783704
      ],
      "position_mm": [
        -22.6732404518372,
        -186.7031791168643,
        -29.289502038783702
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 66,
      "position_m": [
        0.2106254712572782,
        -0.3646879310601123,
        -0.026689931719541572
      ],
      "position_mm": [
        210.6254712572782,
        -364.6879310601123,
        -26.689931719541573
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 68,
      "position_m": [
        0.5749361220534386,
        0.17435053454001467,
        -0.028366518629658066
      ],
      "position_mm": [
        574.9361220534386,
        174.35053454001468,
        -28.366518629658067
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.004925581487568425,
        -0.27888547593833163,
        -0.027503795198252034
      ],
      "position_mm": [
        4.925581487568425,
        -278.88547593833164,
        -27.503795198252035
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 72,
      "position_m": [
        0.4422163890275006,
        0.19348965954290612,
        -0.026596249664177795
      ],
      "position_mm": [
        442.2163890275006,
        193.4896595429061,
        -26.596249664177794
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 73,
      "position_m": [
        0.22124005962338636,
        0.33082161350206735,
        -0.027014624014779835
      ],
      "position_mm": [
        221.24005962338637,
        330.82161350206735,
        -27.014624014779834
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 75,
      "position_m": [
        -0.02720736776758411,
        0.1923095317094307,
        -0.026916213051488266
      ],
      "position_mm": [
        -27.20736776758411,
        192.3095317094307,
        -26.916213051488267
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 79,
      "position_m": [
        0.31204216335994417,
        -0.15869132556446322,
        -0.027216918629941758
      ],
      "position_mm": [
        312.0421633599442,
        -158.69132556446323,
        -27.21691862994176
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 85,
      "position_m": [
        0.5061534347908839,
        -0.31416554031623417,
        -0.02710923667987527
      ],
      "position_mm": [
        506.1534347908839,
        -314.16554031623417,
        -27.10923667987527
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 86,
      "position_m": [
        0.3616431680741297,
        0.2955331418620524,
        -0.027302512559581032
      ],
      "position_mm": [
        361.64316807412973,
        295.5331418620524,
        -27.302512559581032
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 92,
      "position_m": [
        0.6472574886134329,
        -0.1860226337985968,
        -0.02866548290790272
      ],
      "position_mm": [
        647.2574886134329,
        -186.0226337985968,
        -28.66548290790272
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18601585984189575,
        -0.2757865663878082,
        -0.028294826079050095
      ],
      "position_mm": [
        186.01585984189575,
        -275.7865663878082,
        -28.294826079050097
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.3696013105539475,
        -0.18587053993172473,
        -0.02637905068584163
      ],
      "position_mm": [
        369.60131055394754,
        -185.87053993172472,
        -26.37905068584163
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 102,
      "position_m": [
        0.6507347698010417,
        -0.2242574011877216,
        -0.026833581254043226
      ],
      "position_mm": [
        650.7347698010417,
        -224.2574011877216,
        -26.833581254043224
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.10673509558071263,
        -0.19131607051684407,
        -0.02655644059867872
      ],
      "position_mm": [
        106.73509558071264,
        -191.31607051684406,
        -26.55644059867872
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 105,
      "position_m": [
        0.5227994175161256,
        -0.2663004945434253,
        -0.029245737742362655
      ],
      "position_mm": [
        522.7994175161256,
        -266.3004945434253,
        -29.245737742362653
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.3078502249996462,
        -0.24860226505647387,
        0.26696564474999335
      ],
      "position_mm": [
        307.85022499964623,
        -248.60226505647387,
        266.9656447499934
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 124,
      "position_m": [
        0.34127989795475006,
        -0.2961248501763937,
        0.27787518840048336
      ],
      "position_mm": [
        341.2798979547501,
        -296.1248501763937,
        277.87518840048335
      ],
      "link": "Arm2",
      "normal": [
        -1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 198,
      "position_m": [
        0.1522932862062371,
        -0.056361599933684704,
        0.09522498382491029
      ],
      "position_mm": [
        152.2932862062371,
        -56.3615999336847,
        95.2249838249103
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 206,
      "position_m": [
        0.6493144914622396,
        -0.01076927412567515,
        0.0006234360823179816
      ],
      "position_mm": [
        649.3144914622396,
        -10.76927412567515,
        0.6234360823179816
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 208,
      "position_m": [
        0.35247528613218665,
        -0.09143869284531798,
        0.0010939858368310407
      ],
      "position_mm": [
        352.4752861321866,
        -91.43869284531799,
        1.0939858368310407
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02177642251491793,
        -0.019629854924092048,
        0.0003250526182533467
      ],
      "position_mm": [
        21.776422514917932,
        -19.629854924092047,
        0.3250526182533467
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 211,
      "position_m": [
        0.25333430476317964,
        -0.010621765396581401,
        0.0006606329894195585
      ],
      "position_mm": [
        253.33430476317963,
        -10.621765396581402,
        0.6606329894195585
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 214,
      "position_m": [
        0.3478167347797298,
        -0.011577233994342628,
        0.00042824141505073103
      ],
      "position_mm": [
        347.8167347797298,
        -11.577233994342627,
        0.42824141505073104
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.22771168996128388,
        -0.14986151599435976,
        0.1671063442547889
      ],
      "position_mm": [
        227.71168996128387,
        -149.86151599435976,
        167.1063442547889
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 229,
      "position_m": [
        0.16771899014190125,
        -0.14464520196520672,
        0.08697665565251139
      ],
      "position_mm": [
        167.71899014190126,
        -144.64520196520672,
        86.9766556525114
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 232,
      "position_m": [
        0.22444610487907063,
        -0.05246041642556436,
        -0.005638301507828317
      ],
      "position_mm": [
        224.44610487907062,
        -52.460416425564354,
        -5.6383015078283165
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.7071067811865475,
        -0.7071067811865475
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.1705619957880836,
        -0.17513525004956823,
        0.04808819679893443
      ],
      "position_mm": [
        170.56199578808358,
        -175.13525004956824,
        48.08819679893443
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 244,
      "position_m": [
        0.2772794964590053,
        -0.07713128669117411,
        0.01823240265577546
      ],
      "position_mm": [
        277.2794964590053,
        -77.13128669117411,
        18.23240265577546
      ],
      "link": "Ellbow",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 245,
      "position_m": [
        0.23114707844009533,
        -0.07771618334718638,
        0.0003013232438570635
      ],
      "position_mm": [
        231.14707844009533,
        -77.71618334718639,
        0.3013232438570635
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 248,
      "position_m": [
        0.2207297243046242,
        -0.11124575743697349,
        0.01348245582808932
      ],
      "position_mm": [
        220.7297243046242,
        -111.24575743697349,
        13.48245582808932
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    }
  ]
}