{ "schema_version": "1.2", "created_utc": "2026-06-01T21:50:59Z", "summary": { "num_cameras": 7, "num_markers": 59, "num_constraints": 94 }, "markers": [ { "marker_id": 40, "position_m": [ 0.28791482356882075, -0.34481005942912113, 0.20572587424378644 ], "position_mm": [ 287.91482356882074, -344.8100594291211, 205.72587424378645 ], "link": "FingerA", "normal": [ -0.4224220616915755, 0.0, -0.9063992507699015 ] }, { "marker_id": 42, "position_m": [ 0.29263783926814024, -0.364246472410217, 0.19339952258669402 ], "position_mm": [ 292.6378392681402, -364.246472410217, 193.39952258669402 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 44, "position_m": [ 0.3189390556907646, -0.29084520731900837, 0.1843297127251656 ], "position_mm": [ 318.9390556907646, -290.84520731900835, 184.3297127251656 ], "link": "FingerB", "normal": [ 0.0, -0.9375276894468237, -0.34791066600565723 ] }, { "marker_id": 46, "position_m": [ 0.5367025629603293, 0.18532938035222604, -0.026959716874433427 ], "position_mm": [ 536.7025629603293, 185.32938035222605, -26.959716874433425 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 47, "position_m": [ 0.34425813406862604, -0.2865910307726505, -0.027332797360205222 ], "position_mm": [ 344.258134068626, -286.5910307726505, -27.332797360205223 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 48, "position_m": [ 0.6887463827905301, -0.3206572609123936, -0.027265110770389112 ], "position_mm": [ 688.7463827905301, -320.6572609123936, -27.26511077038911 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.1677801081686069, -0.1720850724421387, -0.027299744546076483 ], "position_mm": [ 167.7801081686069, -172.08507244213868, -27.299744546076482 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 52, "position_m": [ 0.09472730627664798, 0.20890293603771012, -0.027364781075356347 ], "position_mm": [ 94.72730627664798, 208.90293603771013, -27.364781075356348 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.4862782097278594, 0.2121628270802964, -0.027226332617917178 ], "position_mm": [ 486.2782097278594, 212.1628270802964, -27.22633261791718 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.34240124712063397, -0.33064526534426897, -0.02718942219579198 ], "position_mm": [ 342.40124712063397, -330.645265344269, -27.18942219579198 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.28375865716560456, -0.2626046903792327, -0.027431404817932433 ], "position_mm": [ 283.7586571656046, -262.6046903792327, -27.43140481793243 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 56, "position_m": [ 0.4986636170095378, 0.1685803045438011, -0.027103340339096862 ], "position_mm": [ 498.6636170095378, 168.5803045438011, -27.10334033909686 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 57, "position_m": [ 0.6028332098877669, -0.3640736997208175, -0.02731020580874596 ], "position_mm": [ 602.8332098877669, -364.0736997208175, -27.31020580874596 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.05008724060898545, -0.21814542867433395, -0.027334508857488757 ], "position_mm": [ 50.087240608985454, -218.14542867433394, -27.334508857488757 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.6262045028261972, -0.2787795316367999, -0.027277418338716913 ], "position_mm": [ 626.2045028261972, -278.7795316367999, -27.277418338716913 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 61, "position_m": [ -0.022396711028323062, 0.335765111038099, -0.027296497053330093 ], "position_mm": [ -22.39671102832306, 335.76511103809895, -27.296497053330093 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.40464639010157255, -0.1752157176756812, -0.027244867042284123 ], "position_mm": [ 404.64639010157254, -175.2157176756812, -27.244867042284124 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 63, "position_m": [ 0.7773277233806813, -0.2360832733530498, -0.027450253571591202 ], "position_mm": [ 777.3277233806814, -236.0832733530498, -27.4502535715912 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.021249271653095023, -0.18820942011546155, -0.027289833134716737 ], "position_mm": [ -21.249271653095022, -188.20942011546154, -27.289833134716737 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 66, "position_m": [ 0.20980864388351567, -0.3632153471508045, -0.027210014438623826 ], "position_mm": [ 209.80864388351566, -363.2153471508045, -27.210014438623826 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 68, "position_m": [ 0.5738070826239149, 0.1707499186649285, -0.027422379049570674 ], "position_mm": [ 573.8070826239149, 170.74991866492851, -27.422379049570676 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.00756841386893232, -0.28121926499595123, -0.027298990492911908 ], "position_mm": [ 7.5684138689323195, -281.2192649959512, -27.29899049291191 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 71, "position_m": [ 0.749869769606321, -0.28405298601856527, -0.027187231057948076 ], "position_mm": [ 749.869769606321, -284.05298601856526, -27.187231057948075 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.4409969393383487, 0.1942967213268871, -0.027277594872553393 ], "position_mm": [ 440.99693933834874, 194.2967213268871, -27.277594872553394 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 73, "position_m": [ 0.22186311326198033, 0.3328298951748651, -0.026812362592227114 ], "position_mm": [ 221.86311326198032, 332.8298951748651, -26.812362592227114 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 75, "position_m": [ -0.025689444010095843, 0.19463315435881343, -0.027236246524835753 ], "position_mm": [ -25.689444010095844, 194.6331543588134, -27.236246524835753 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 76, "position_m": [ 0.6852831631170456, 0.16680324663157586, -0.027216946581168498 ], "position_mm": [ 685.2831631170457, 166.80324663157586, -27.216946581168497 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.312289417052883, -0.1589803701816274, -0.027414381052100593 ], "position_mm": [ 312.289417052883, -158.9803701816274, -27.41438105210059 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 82, "position_m": [ 0.2191715288249306, 0.2969700009420803, -0.027104253290980925 ], "position_mm": [ 219.1715288249306, 296.97000094208033, -27.104253290980925 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 83, "position_m": [ 0.04417526123547327, 0.3393091916070081, -0.027328032898392838 ], "position_mm": [ 44.17526123547327, 339.30919160700813, -27.328032898392838 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 84, "position_m": [ 0.4074022064439012, 0.2583470834992283, -0.02734747077864774 ], "position_mm": [ 407.4022064439012, 258.3470834992283, -27.34747077864774 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5044650761830467, -0.31276021769808887, -0.027315311402554537 ], "position_mm": [ 504.4650761830467, -312.76021769808887, -27.315311402554535 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 86, "position_m": [ 0.36291343849233487, 0.29208426400522153, -0.027346253067673486 ], "position_mm": [ 362.9134384923349, 292.08426400522154, -27.346253067673487 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.64516756990324, -0.1848437665756668, -0.027254782370529845 ], "position_mm": [ 645.16756990324, -184.84376657566682, -27.254782370529846 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.18603414423570536, -0.2740725605931348, -0.02729375436391571 ], "position_mm": [ 186.03414423570536, -274.07256059313477, -27.29375436391571 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.3696862157538461, -0.18651262342987832, -0.027196514973778195 ], "position_mm": [ 369.68621575384606, -186.51262342987832, -27.196514973778196 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 97, "position_m": [ 0.30440760012567164, -0.35962877185383013, -0.027297481111892397 ], "position_mm": [ 304.40760012567165, -359.62877185383013, -27.297481111892395 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6496551058378001, -0.2230171585262964, -0.027261825339226234 ], "position_mm": [ 649.6551058378001, -223.01715852629638, -27.261825339226235 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10568968092666825, -0.1877133322604513, -0.027316791495003618 ], "position_mm": [ 105.68968092666825, -187.71333226045132, -27.316791495003617 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 105, "position_m": [ 0.5248311714986503, -0.2663066550175143, -0.027238793024002356 ], "position_mm": [ 524.8311714986503, -266.30665501751434, -27.238793024002355 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 114, "position_m": [ 0.27902942458787805, -0.23527280529846153, 0.22192059752579665 ], "position_mm": [ 279.02942458787805, -235.27280529846155, 221.92059752579667 ], "link": "Arm2", "normal": [ 0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 115, "position_m": [ 0.30481016604287237, -0.22182087771786912, 0.18186249373757557 ], "position_mm": [ 304.81016604287237, -221.82087771786914, 181.86249373757556 ], "link": "Arm2", "normal": [ -0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 120, "position_m": [ 0.27896543471429236, -0.16951048808915817, 0.2459064107585309 ], "position_mm": [ 278.96543471429237, -169.51048808915817, 245.9064107585309 ], "link": "Arm2", "normal": [ 0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 205, "position_m": [ 0.7501840278360961, -0.0899878947438745, 0.0002707173193221992 ], "position_mm": [ 750.1840278360961, -89.9878947438745, 0.27071731932219917 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 206, "position_m": [ 0.6500212344302861, -0.010000709217861344, 0.0002912711320393957 ], "position_mm": [ 650.0212344302862, -10.000709217861344, 0.2912711320393957 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.35000252198858756, -0.0898920470914963, 0.00022197683071371955 ], "position_mm": [ 350.00252198858755, -89.8920470914963, 0.22197683071371954 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.019988225733073822, -0.019978014402452535, 0.00035014629333205896 ], "position_mm": [ 19.988225733073822, -19.978014402452537, 0.350146293332059 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 211, "position_m": [ 0.25001662659028856, -0.009846923275123178, 0.0001956714542375235 ], "position_mm": [ 250.01662659028855, -9.846923275123178, 0.1956714542375235 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.3499745883950681, -0.009892058086184945, 0.0002512452303300767 ], "position_mm": [ 349.9745883950681, -9.892058086184946, 0.25124523033007673 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 215, "position_m": [ 0.2500249674366948, -0.08984691938904732, 0.00020711874116527721 ], "position_mm": [ 250.02496743669477, -89.84691938904732, 0.2071187411652772 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 217, "position_m": [ 0.6499211726936672, -0.09000062092095797, 0.00036178986000044987 ], "position_mm": [ 649.9211726936672, -90.00062092095797, 0.3617898600004499 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 218, "position_m": [ 0.25239194244123475, -0.16839865123936693, 0.2427063445261089 ], "position_mm": [ 252.39194244123476, -168.39865123936693, 242.7063445261089 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 219, "position_m": [ 0.2523132835152764, -0.26878331090484475, 0.20611167337245428 ], "position_mm": [ 252.31328351527637, -268.78331090484477, 206.11167337245428 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 231, "position_m": [ 0.2699494433889153, -0.03801477861881788, 0.2842270174997472 ], "position_mm": [ 269.9494433889153, -38.01477861881788, 284.2270174997472 ], "link": "Ellbow", "normal": [ 0.0, 0.7071067811865475, 0.7071067811865475 ] }, { "marker_id": 242, "position_m": [ 0.17977896305224206, -0.080556280852061, 0.22988579523472139 ], "position_mm": [ 179.77896305224206, -80.556280852061, 229.88579523472137 ], "link": "Arm1", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 243, "position_m": [ 0.17996496161411812, -0.0753803077067244, 0.27911157866477065 ], "position_mm": [ 179.96496161411812, -75.3803077067244, 279.11157866477066 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 244, "position_m": [ 0.3075421793604183, -0.05751027124189043, 0.2535876883992479 ], "position_mm": [ 307.5421793604183, -57.510271241890436, 253.5876883992479 ], "link": "Ellbow", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 246, "position_m": [ 0.2700960723400686, -0.06478772526935454, 0.2851286888603782 ], "position_mm": [ 270.0960723400686, -64.78772526935454, 285.1286888603782 ], "link": "Ellbow", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 247, "position_m": [ 0.23259657603633818, -0.06491116157794047, 0.28528624328136254 ], "position_mm": [ 232.59657603633818, -64.91116157794046, 285.28624328136254 ], "link": "Ellbow", "normal": [ 0.0, 0.0, 1.0 ] } ] }