{ "schema_version": "1.2", "created_utc": "2026-06-02T10:17:47Z", "summary": { "num_cameras": 7, "num_markers": 52, "num_constraints": 94 }, "cameras": [ { "camera_id": "a", "position_m": [ -0.29860435642298544, -0.7989737188953816, 0.8053572016872256 ], "position_mm": [ -298.60435642298546, -798.9737188953816, 805.3572016872256 ], "direction": [ 0.47681212425231934, 0.6564357280731201, -0.5845873355865479 ] }, { "camera_id": "b", "position_m": [ 0.30487125972248375, -0.9001105936796677, 1.1964276641530223 ], "position_mm": [ 304.8712597224837, -900.1105936796678, 1196.4276641530223 ], "direction": [ 0.004683269653469324, 0.6283239126205444, -0.7779377102851868 ] }, { "camera_id": "c", "position_m": [ 0.32440277320231625, -0.8961608222708353, 0.39538181254691507 ], "position_mm": [ 324.40277320231627, -896.1608222708353, 395.38181254691506 ], "direction": [ -0.1327180564403534, 0.9471269845962524, -0.2921240031719208 ] }, { "camera_id": "d", "position_m": [ 0.7025223729217407, -0.7948821102733414, 0.39697084793149384 ], "position_mm": [ 702.5223729217407, -794.8821102733415, 396.97084793149384 ], "direction": [ -0.5549365282058716, 0.783879816532135, -0.2785280644893646 ] }, { "camera_id": "e", "position_m": [ 1.2316582864647396, -0.8929830615675266, 0.39181392877650884 ], "position_mm": [ 1231.6582864647396, -892.9830615675266, 391.8139287765088 ], "direction": [ -0.7713589668273926, 0.5865152478218079, -0.24699220061302185 ] }, { "camera_id": "f", "position_m": [ 0.5026508990092529, -0.30417473684393315, 1.3963563930085523 ], "position_mm": [ 502.65089900925284, -304.17473684393315, 1396.3563930085522 ], "direction": [ -0.240851029753685, 0.0825331062078476, -0.9670465588569641 ] }, { "camera_id": "g", "position_m": [ -0.20265086125819326, 0.20883043970876597, 1.391162199715044 ], "position_mm": [ -202.65086125819326, 208.83043970876597, 1391.1621997150442 ], "direction": [ 0.3007599711418152, -0.3040454089641571, -0.9039357304573059 ] } ], "markers": [ { "marker_id": 41, "position_m": [ 0.36961670007010544, -0.15589911095220269, 0.1621729223501281 ], "position_mm": [ 369.6167000701054, -155.89911095220268, 162.1729223501281 ], "link": "FingerA", "normal": [ 0.0, -0.9375276894468237, 0.34791066600565723 ] }, { "marker_id": 42, "position_m": [ 0.3810356382370072, -0.18997809615844907, 0.131246101389892 ], "position_mm": [ 381.0356382370072, -189.97809615844906, 131.246101389892 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 43, "position_m": [ 0.33421103067044994, -0.14941807309231223, 0.1368072808980136 ], "position_mm": [ 334.21103067044993, -149.41807309231223, 136.8072808980136 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 46, "position_m": [ 0.5364966561447994, 0.18350100047367332, -0.03250498673777819 ], "position_mm": [ 536.4966561447993, 183.50100047367332, -32.50498673777819 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 47, "position_m": [ 0.3446981142284124, -0.285525541317648, -0.030842400581043854 ], "position_mm": [ 344.6981142284124, -285.525541317648, -30.842400581043854 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 48, "position_m": [ 0.6877329945791226, -0.3182895781389424, -0.02783814305440286 ], "position_mm": [ 687.7329945791226, -318.2895781389424, -27.83814305440286 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.1681834693497845, -0.17383824634221062, -0.02721744631602781 ], "position_mm": [ 168.1834693497845, -173.83824634221062, -27.21744631602781 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 52, "position_m": [ 0.09162375335506902, 0.21377467189096383, -0.02848280494714942 ], "position_mm": [ 91.62375335506901, 213.77467189096382, -28.48280494714942 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.4868701195804956, 0.21037631652292504, -0.022665354172617287 ], "position_mm": [ 486.8701195804956, 210.37631652292504, -22.66535417261729 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.34008399897941216, -0.32908823694920214, -0.025819351539133565 ], "position_mm": [ 340.0839989794122, -329.08823694920216, -25.819351539133564 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.2845759024721892, -0.26082514014772806, -0.027563302958617163 ], "position_mm": [ 284.5759024721892, -260.82514014772806, -27.56330295861716 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 56, "position_m": [ 0.4988075456135603, 0.16687990671470632, -0.026956900219417934 ], "position_mm": [ 498.80754561356025, 166.87990671470632, -26.956900219417935 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 57, "position_m": [ 0.6020437354462826, -0.3635203652480499, -0.028261944813865365 ], "position_mm": [ 602.0437354462827, -363.5203652480499, -28.261944813865366 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.049230500600405465, -0.2176115862818627, -0.026090369271753087 ], "position_mm": [ 49.23050060040546, -217.61158628186269, -26.090369271753087 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.6242157255694142, -0.27791701367693533, -0.026921798347323143 ], "position_mm": [ 624.2157255694142, -277.9170136769353, -26.921798347323143 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 61, "position_m": [ -0.022116595183453127, 0.3349445535864875, -0.027434189356926493 ], "position_mm": [ -22.11659518345313, 334.94455358648753, -27.434189356926492 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4042618827365529, -0.17237738645862075, -0.02880759436394464 ], "position_mm": [ 404.2618827365529, -172.37738645862075, -28.80759436394464 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 63, "position_m": [ 0.7759326541999997, -0.23594323779826934, -0.028277889543881194 ], "position_mm": [ 775.9326541999997, -235.94323779826934, -28.277889543881194 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.021850434828212077, -0.18717766330110985, -0.0286029308864334 ], "position_mm": [ -21.850434828212077, -187.17766330110985, -28.602930886433402 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 66, "position_m": [ 0.20961993648954516, -0.3651183042592914, -0.029437447680862754 ], "position_mm": [ 209.61993648954515, -365.11830425929145, -29.437447680862753 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 68, "position_m": [ 0.5747745717681302, 0.17359501238208963, -0.0273870631546695 ], "position_mm": [ 574.7745717681302, 173.59501238208964, -27.387063154669498 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.005243440510977506, -0.27966450746035815, -0.02692580320640481 ], "position_mm": [ 5.243440510977506, -279.66450746035815, -26.92580320640481 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 71, "position_m": [ 0.7507735214868397, -0.2851244726680011, -0.02645383463884371 ], "position_mm": [ 750.7735214868397, -285.1244726680011, -26.45383463884371 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.44136675137045256, 0.19346198530702682, -0.026263670498486047 ], "position_mm": [ 441.36675137045256, 193.46198530702682, -26.263670498486047 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 74, "position_m": [ 0.09428403984893412, 0.14170475094168028, -0.02748861709499319 ], "position_mm": [ 94.28403984893411, 141.7047509416803, -27.48861709499319 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 75, "position_m": [ -0.026942724729929153, 0.19351321006150332, -0.027752119896078044 ], "position_mm": [ -26.942724729929154, 193.51321006150332, -27.752119896078042 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 77, "position_m": [ 0.016893822797718172, 0.19028659506567205, -0.0259250211433717 ], "position_mm": [ 16.893822797718173, 190.28659506567206, -25.925021143371698 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.31229260736505876, -0.1586507174889286, -0.027214640910231878 ], "position_mm": [ 312.29260736505876, -158.6507174889286, -27.21464091023188 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5067729482074473, -0.3136007362971069, -0.02779065149429709 ], "position_mm": [ 506.7729482074473, -313.6007362971069, -27.790651494297087 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.6464387685992715, -0.1855045111342697, -0.02730444698548726 ], "position_mm": [ 646.4387685992715, -185.50451113426968, -27.30444698548726 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.1865448736918254, -0.2758035435829383, -0.02799491910162369 ], "position_mm": [ 186.54487369182542, -275.8035435829383, -27.99491910162369 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.3700094315367853, -0.18550217563476903, -0.026725037339239918 ], "position_mm": [ 370.00943153678526, -185.50217563476903, -26.72503733923992 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 97, "position_m": [ 0.30403658036011294, -0.3604274458159988, -0.02440494155982592 ], "position_mm": [ 304.03658036011296, -360.4274458159988, -24.40494155982592 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6509857538489928, -0.22367038575839618, -0.02711380528546412 ], "position_mm": [ 650.9857538489928, -223.67038575839618, -27.113805285464117 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10619554063835948, -0.18986108532934146, -0.02770628574685551 ], "position_mm": [ 106.19554063835947, -189.86108532934145, -27.70628574685551 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 105, "position_m": [ 0.5228610876804471, -0.2655221511471569, -0.029320325371499232 ], "position_mm": [ 522.8610876804471, -265.5221511471569, -29.320325371499234 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 113, "position_m": [ 0.40792020542991964, -0.06815861828264996, 0.2225877277328801 ], "position_mm": [ 407.92020542991963, -68.15861828264997, 222.5877277328801 ], "link": "Arm2", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 122, "position_m": [ 0.3657844032024572, -0.0185422074285396, 0.2726256903307815 ], "position_mm": [ 365.7844032024572, -18.5422074285396, 272.6256903307815 ], "link": "Arm2", "normal": [ -1.0, 0.0, 0.0 ] }, { "marker_id": 124, "position_m": [ 0.36752323295537265, -0.11045031695928058, 0.21401627257334027 ], "position_mm": [ 367.52323295537263, -110.45031695928058, 214.01627257334027 ], "link": "Arm2", "normal": [ -1.0, 0.0, 0.0 ] }, { "marker_id": 205, "position_m": [ 0.7531680230482566, -0.09008208328019329, -0.000729733969624775 ], "position_mm": [ 753.1680230482566, -90.08208328019329, -0.729733969624775 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 206, "position_m": [ 0.6501475826373007, -0.010200081063876265, -3.183190409388276e-05 ], "position_mm": [ 650.1475826373006, -10.200081063876265, -0.031831904093882764 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.35233979262187254, -0.09102635571784769, 0.0007572801851578034 ], "position_mm": [ 352.33979262187256, -91.0263557178477, 0.7572801851578034 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.020913189775177306, -0.01956918160080965, 0.0004653261701276021 ], "position_mm": [ 20.913189775177308, -19.56918160080965, 0.46532617012760213 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 211, "position_m": [ 0.25227844216198203, -0.008823284911419782, -0.00018460626298883042 ], "position_mm": [ 252.27844216198204, -8.823284911419782, -0.18460626298883043 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.34764520363943213, -0.011165022642882478, 0.0003982557476963277 ], "position_mm": [ 347.6452036394321, -11.165022642882478, 0.39825574769632766 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 215, "position_m": [ 0.250753042847495, -0.08880758070408917, 0.00024559531512243496 ], "position_mm": [ 250.753042847495, -88.80758070408918, 0.24559531512243496 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 217, "position_m": [ 0.6470759440664264, -0.09013337770158523, -0.0011426204728005485 ], "position_mm": [ 647.0759440664265, -90.13337770158523, -1.1426204728005485 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 231, "position_m": [ 0.38152194075377543, 0.09906053679464416, 0.33972796350048395 ], "position_mm": [ 381.5219407537754, 99.06053679464416, 339.72796350048395 ], "link": "Ellbow", "normal": [ 0.0, 0.7071067811865475, 0.7071067811865475 ] }, { "marker_id": 242, "position_m": [ 0.2915950767736764, 0.05450400518569971, 0.3041658995835582 ], "position_mm": [ 291.5950767736764, 54.504005185699704, 304.1658995835582 ], "link": "Arm1", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 243, "position_m": [ 0.2910728041622745, 0.0854007253647432, 0.34283271329286696 ], "position_mm": [ 291.0728041622745, 85.40072536474321, 342.83271329286697 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 246, "position_m": [ 0.38040080063320764, 0.07302752033280253, 0.3335096637417035 ], "position_mm": [ 380.4008006332076, 73.02752033280254, 333.5096637417035 ], "link": "Ellbow", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 247, "position_m": [ 0.3432318341519312, 0.07374716582864269, 0.33842968276950336 ], "position_mm": [ 343.2318341519312, 73.74716582864268, 338.42968276950336 ], "link": "Ellbow", "normal": [ 0.0, 0.0, 1.0 ] } ] }