{ "schema_version": "1.2", "created_utc": "2026-06-02T11:34:39Z", "summary": { "num_cameras": 7, "num_markers": 53, "num_constraints": 94 }, "cameras": [ { "camera_id": "a", "position_m": [ -0.3001274357176493, -0.7979520803678932, 0.8009902676185592 ], "position_mm": [ -300.12743571764935, -797.9520803678932, 800.9902676185592 ], "direction": [ 0.4789915382862091, 0.6567302346229553, -0.5824710726737976 ] }, { "camera_id": "b", "position_m": [ 0.3066760337541463, -0.9002686536833784, 1.1975444019860375 ], "position_mm": [ 306.6760337541463, -900.2686536833784, 1197.5444019860374 ], "direction": [ 0.003503520041704178, 0.6278945207595825, -0.7782905697822571 ] }, { "camera_id": "c", "position_m": [ 0.302471813632412, -0.9015233726034213, 0.3970808167394305 ], "position_mm": [ 302.47181363241197, -901.5233726034213, 397.08081673943053 ], "direction": [ -0.10847170650959015, 0.9501831531524658, -0.2922085225582123 ] }, { "camera_id": "d", "position_m": [ 0.7043748483479417, -0.7913814938608938, 0.3980785112977702 ], "position_mm": [ 704.3748483479417, -791.3814938608939, 398.0785112977702 ], "direction": [ -0.5582780838012695, 0.7809169888496399, -0.2801682651042938 ] }, { "camera_id": "e", "position_m": [ 1.2047751033816865, -0.9007557022297528, 0.4020806051651384 ], "position_mm": [ 1204.7751033816864, -900.7557022297527, 402.08060516513837 ], "direction": [ -0.751876950263977, 0.603818953037262, -0.26473331451416016 ] }, { "camera_id": "f", "position_m": [ 0.5043494579716952, -0.301245133491864, 1.3967016058142683 ], "position_mm": [ 504.3494579716952, -301.245133491864, 1396.7016058142683 ], "direction": [ -0.2418917864561081, 0.08053316920995712, -0.9669554233551025 ] }, { "camera_id": "g", "position_m": [ -0.20099649203909564, 0.2117074828658243, 1.3912131006166302 ], "position_mm": [ -200.99649203909564, 211.70748286582432, 1391.21310061663 ], "direction": [ 0.29970866441726685, -0.30563467741012573, -0.9037489295005798 ] } ], "markers": [ { "marker_id": 40, "position_m": [ 0.2888534023299555, -0.34590596874493335, 0.2056526911388693 ], "position_mm": [ 288.8534023299555, -345.9059687449333, 205.6526911388693 ], "link": "FingerA", "normal": [ -0.4224220616915755, 0.0, -0.9063992507699015 ] }, { "marker_id": 42, "position_m": [ 0.292539948593081, -0.3618843035299382, 0.18882647185799611 ], "position_mm": [ 292.539948593081, -361.8843035299382, 188.82647185799613 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 44, "position_m": [ 0.32032538808023825, -0.29010326298661043, 0.18638154518849864 ], "position_mm": [ 320.32538808023827, -290.10326298661045, 186.38154518849865 ], "link": "FingerB", "normal": [ 0.0, -0.9375276894468237, -0.34791066600565723 ] }, { "marker_id": 46, "position_m": [ 0.5356567087961862, 0.18333208401325385, -0.031039915642463535 ], "position_mm": [ 535.6567087961862, 183.33208401325385, -31.039915642463534 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 47, "position_m": [ 0.3447819290437764, -0.285691391996981, -0.03041752053506546 ], "position_mm": [ 344.7819290437764, -285.691391996981, -30.41752053506546 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 48, "position_m": [ 0.6879823351148282, -0.31919877902981103, -0.026914656535098037 ], "position_mm": [ 687.9823351148282, -319.198779029811, -26.914656535098036 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 50, "position_m": [ 0.5720497344125619, 0.2144189917391193, -0.028723237279100543 ], "position_mm": [ 572.0497344125619, 214.4189917391193, -28.723237279100545 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.16785693281799677, -0.17362475851793846, -0.027314552543344525 ], "position_mm": [ 167.85693281799678, -173.62475851793846, -27.314552543344526 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.4873223736887688, 0.21105959611975586, -0.023241233494949734 ], "position_mm": [ 487.3223736887688, 211.05959611975587, -23.241233494949736 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.33960652759692567, -0.32921538632795655, -0.025609990609562722 ], "position_mm": [ 339.6065275969257, -329.21538632795654, -25.609990609562722 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.28482667832465686, -0.26048752978507955, -0.028034977336259898 ], "position_mm": [ 284.8266783246569, -260.4875297850796, -28.034977336259896 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 56, "position_m": [ 0.49782771379965235, 0.16704186458942177, -0.02546249640856993 ], "position_mm": [ 497.8277137996524, 167.04186458942178, -25.46249640856993 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 57, "position_m": [ 0.602638710400421, -0.36309897781040296, -0.028262675030966772 ], "position_mm": [ 602.638710400421, -363.09897781040297, -28.262675030966772 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.049303635501467574, -0.2178259695725349, -0.0262068966149449 ], "position_mm": [ 49.303635501467575, -217.8259695725349, -26.206896614944903 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.6252549885194888, -0.27760436228953445, -0.027555448095422663 ], "position_mm": [ 625.2549885194888, -277.60436228953444, -27.555448095422662 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 61, "position_m": [ -0.021878694819392332, 0.3339560721329711, -0.02667601392615701 ], "position_mm": [ -21.878694819392333, 333.95607213297114, -26.67601392615701 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.40454879914608627, -0.17410692308173473, -0.026846605735357233 ], "position_mm": [ 404.54879914608625, -174.10692308173472, -26.846605735357233 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 63, "position_m": [ 0.7753405207814438, -0.23624762214492495, -0.027699668535010557 ], "position_mm": [ 775.3405207814437, -236.24762214492495, -27.699668535010556 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.02166089907467025, -0.18712697036184364, -0.02878443393697504 ], "position_mm": [ -21.66089907467025, -187.12697036184363, -28.78443393697504 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 68, "position_m": [ 0.5738752745644481, 0.1733548879301458, -0.025625357029166854 ], "position_mm": [ 573.8752745644481, 173.3548879301458, -25.625357029166853 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.005035607591629072, -0.2796726036547799, -0.027416445880468293 ], "position_mm": [ 5.035607591629073, -279.6726036547799, -27.41644588046829 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 71, "position_m": [ 0.7509205883126125, -0.285815743892456, -0.026369277346895845 ], "position_mm": [ 750.9205883126125, -285.815743892456, -26.369277346895846 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.44203981283341065, 0.19383513130714736, -0.02797444647298629 ], "position_mm": [ 442.0398128334107, 193.83513130714735, -27.97444647298629 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 75, "position_m": [ -0.02719922491878232, 0.19310211506664146, -0.02666211842902692 ], "position_mm": [ -27.199224918782317, 193.10211506664146, -26.66211842902692 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.312372761162658, -0.15780270156391815, -0.028485455196377133 ], "position_mm": [ 312.372761162658, -157.80270156391816, -28.48545519637713 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5062102223815521, -0.31402217735961857, -0.02714352823465473 ], "position_mm": [ 506.2102223815521, -314.0221773596186, -27.14352823465473 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 86, "position_m": [ 0.3619016844945778, 0.2945280865217502, -0.02630081903204676 ], "position_mm": [ 361.9016844945778, 294.5280865217502, -26.30081903204676 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.6465988895592099, -0.1849978529693428, -0.027179211114315628 ], "position_mm": [ 646.5988895592099, -184.9978529693428, -27.179211114315628 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 94, "position_m": [ 0.8729201284423962, 0.17414851015714067, -0.026641219849077736 ], "position_mm": [ 872.9201284423962, 174.14851015714066, -26.641219849077736 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.18656605465458911, -0.27552864282705675, -0.027794962667072595 ], "position_mm": [ 186.56605465458912, -275.52864282705673, -27.794962667072596 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.3696358541683935, -0.18554415621718137, -0.02653149295338874 ], "position_mm": [ 369.6358541683935, -185.54415621718138, -26.53149295338874 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 97, "position_m": [ 0.3034970333297488, -0.36045374602360253, -0.02365147927776906 ], "position_mm": [ 303.49703332974883, -360.45374602360255, -23.65147927776906 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6515204745386113, -0.22311205188087335, -0.02783563677416969 ], "position_mm": [ 651.5204745386113, -223.11205188087337, -27.83563677416969 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10572906049359454, -0.18904912836472454, -0.028612786796871008 ], "position_mm": [ 105.72906049359455, -189.04912836472454, -28.612786796871006 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 105, "position_m": [ 0.5237386025128434, -0.26646743111442084, -0.02914867193814439 ], "position_mm": [ 523.7386025128434, -266.46743111442083, -29.14867193814439 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 114, "position_m": [ 0.28138937447168727, -0.2355586298321806, 0.22051242521771802 ], "position_mm": [ 281.3893744716873, -235.5586298321806, 220.51242521771803 ], "link": "Arm2", "normal": [ 0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 115, "position_m": [ 0.3099066090469151, -0.22758277604968544, 0.1808462092263914 ], "position_mm": [ 309.9066090469151, -227.58277604968544, 180.8462092263914 ], "link": "Arm2", "normal": [ -0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 120, "position_m": [ 0.28125309725266023, -0.1695534143605206, 0.24382147675657925 ], "position_mm": [ 281.2530972526602, -169.5534143605206, 243.82147675657924 ], "link": "Arm2", "normal": [ 0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 205, "position_m": [ 0.7533098260288922, -0.09020390666806041, -0.0006309633593315228 ], "position_mm": [ 753.3098260288922, -90.20390666806041, -0.6309633593315228 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 206, "position_m": [ 0.6507968647218457, -0.009810386292367516, -0.00012396343797100765 ], "position_mm": [ 650.7968647218457, -9.810386292367516, -0.12396343797100765 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.35242013718041776, -0.09091943605727368, 0.0012145524822694202 ], "position_mm": [ 352.4201371804178, -90.91943605727367, 1.2145524822694203 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.02191873787972709, -0.01980287055278706, 0.0007073327515774533 ], "position_mm": [ 21.91873787972709, -19.80287055278706, 0.7073327515774533 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 211, "position_m": [ 0.2522545813052149, -0.008543823639166174, -0.00014512613683517192 ], "position_mm": [ 252.25458130521488, -8.543823639166174, -0.14512613683517192 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.34742193651880043, -0.011078229279488845, 0.0005852195000274293 ], "position_mm": [ 347.4219365188004, -11.078229279488845, 0.5852195000274293 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 215, "position_m": [ 0.2507037248388143, -0.08852839493129804, 0.00010197177235187701 ], "position_mm": [ 250.7037248388143, -88.52839493129804, 0.10197177235187702 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 217, "position_m": [ 0.6471310447233597, -0.08972455816869021, -0.000660965768917284 ], "position_mm": [ 647.1310447233597, -89.72455816869021, -0.660965768917284 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 218, "position_m": [ 0.25472145929300144, -0.16764817975668087, 0.2406444666477617 ], "position_mm": [ 254.72145929300143, -167.64817975668086, 240.6444666477617 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 219, "position_m": [ 0.2553646775722126, -0.26967257251882426, 0.20484122433011867 ], "position_mm": [ 255.3646775722126, -269.67257251882427, 204.84122433011868 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 231, "position_m": [ 0.2716144926655255, -0.03667590119102026, 0.28079353830776105 ], "position_mm": [ 271.6144926655255, -36.67590119102026, 280.793538307761 ], "link": "Ellbow", "normal": [ 0.0, 0.7071067811865475, 0.7071067811865475 ] }, { "marker_id": 243, "position_m": [ 0.18718590977342586, -0.04488064455915418, 0.253063708326384 ], "position_mm": [ 187.18590977342586, -44.88064455915418, 253.06370832638396 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 244, "position_m": [ 0.3113836754123737, -0.05755344089925486, 0.2556779227728506 ], "position_mm": [ 311.3836754123737, -57.55344089925486, 255.67792277285062 ], "link": "Ellbow", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 246, "position_m": [ 0.2706820919553378, -0.06333601288587339, 0.2832448671751338 ], "position_mm": [ 270.6820919553378, -63.33601288587339, 283.24486717513383 ], "link": "Ellbow", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 247, "position_m": [ 0.233330124401818, -0.06104937918917447, 0.2856658729047243 ], "position_mm": [ 233.33012440181798, -61.049379189174466, 285.66587290472427 ], "link": "Ellbow", "normal": [ 0.0, 0.0, 1.0 ] } ] }