{
  "schema_version": "1.2",
  "created_utc": "2026-06-02T21:18:29Z",
  "summary": {
    "num_cameras": 3,
    "num_markers": 18,
    "num_constraints": 94
  },
  "cameras": [
    {
      "camera_id": "b",
      "position_m": [
        0.3032080331514599,
        -0.8954064004634189,
        1.2012942891546714
      ],
      "position_mm": [
        303.2080331514599,
        -895.4064004634189,
        1201.2942891546713
      ],
      "direction": [
        0.005782749503850937,
        0.6244387030601501,
        -0.7810524106025696
      ]
    },
    {
      "camera_id": "c",
      "position_m": [
        0.30460041510025276,
        -0.9022090407414753,
        0.3986456232339163
      ],
      "position_mm": [
        304.60041510025275,
        -902.2090407414753,
        398.6456232339163
      ],
      "direction": [
        -0.10995042324066162,
        0.9492284059524536,
        -0.2947479486465454
      ]
    },
    {
      "camera_id": "d",
      "position_m": [
        0.7026420377142895,
        -0.794595122683283,
        0.4010946796990027
      ],
      "position_mm": [
        702.6420377142895,
        -794.5951226832831,
        401.0946796990027
      ],
      "direction": [
        -0.5536129474639893,
        0.7829245924949646,
        -0.2837987542152405
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 40,
      "position_m": [
        0.3062002624413164,
        -0.20103505723918122,
        0.02480080819309435
      ],
      "position_mm": [
        306.2002624413164,
        -201.0350572391812,
        24.80080819309435
      ],
      "link": "FingerA",
      "normal": [
        -0.4224220616915755,
        0.0,
        -0.9063992507699015
      ]
    },
    {
      "marker_id": 45,
      "position_m": [
        0.3544270406321172,
        -0.19913623657300933,
        0.02005438325657474
      ],
      "position_mm": [
        354.4270406321172,
        -199.13623657300934,
        20.054383256574738
      ],
      "link": "FingerB",
      "normal": [
        -0.8830215713766957,
        -0.3090575499818435,
        -0.3532086285506783
      ]
    },
    {
      "marker_id": 50,
      "position_m": [
        0.5711319307113013,
        0.21166459153776945,
        -0.027235486495832077
      ],
      "position_mm": [
        571.1319307113013,
        211.66459153776944,
        -27.235486495832077
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 51,
      "position_m": [
        0.16748961023054976,
        -0.1748181476622434,
        -0.026839834668311423
      ],
      "position_mm": [
        167.48961023054974,
        -174.8181476622434,
        -26.839834668311422
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 62,
      "position_m": [
        0.40316603164085135,
        -0.169159232717019,
        -0.03079505196031081
      ],
      "position_mm": [
        403.1660316408514,
        -169.159232717019,
        -30.79505196031081
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 64,
      "position_m": [
        -0.01969259295090085,
        -0.18911122883953918,
        -0.027152228036561327
      ],
      "position_mm": [
        -19.69259295090085,
        -189.1112288395392,
        -27.15222803656133
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 69,
      "position_m": [
        0.005604588865595981,
        -0.2773529902736345,
        -0.027442866065325693
      ],
      "position_mm": [
        5.604588865595981,
        -277.35299027363453,
        -27.442866065325692
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 95,
      "position_m": [
        0.18685990322756516,
        -0.2765993749680437,
        -0.027016241897115476
      ],
      "position_mm": [
        186.85990322756516,
        -276.5993749680437,
        -27.016241897115474
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 96,
      "position_m": [
        0.371575486450306,
        -0.187225096280539,
        -0.025745571451969457
      ],
      "position_mm": [
        371.575486450306,
        -187.225096280539,
        -25.745571451969457
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 103,
      "position_m": [
        0.1056884820811325,
        -0.19155373640565468,
        -0.026719691481742143
      ],
      "position_mm": [
        105.6884820811325,
        -191.5537364056547,
        -26.719691481742142
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 113,
      "position_m": [
        0.3118048950739139,
        -0.15543227776902604,
        0.15682480822873288
      ],
      "position_mm": [
        311.8048950739139,
        -155.43227776902606,
        156.82480822873288
      ],
      "link": "Arm2",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 210,
      "position_m": [
        0.02207321696058756,
        -0.021213020271561273,
        0.0016941561410164176
      ],
      "position_mm": [
        22.073216960587562,
        -21.213020271561273,
        1.6941561410164176
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 211,
      "position_m": [
        0.2536098556736377,
        -0.009915933879067987,
        0.000622784559487703
      ],
      "position_mm": [
        253.6098556736377,
        -9.915933879067987,
        0.6227845594877031
      ],
      "link": "Board",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 218,
      "position_m": [
        0.3537203851535006,
        -0.09941566413058409,
        0.1996213378870877
      ],
      "position_mm": [
        353.7203851535006,
        -99.41566413058409,
        199.6213378870877
      ],
      "link": "Arm2",
      "normal": [
        1.0,
        0.0,
        0.0
      ]
    },
    {
      "marker_id": 242,
      "position_m": [
        0.23247484541880328,
        -0.04916938444315495,
        0.25842291833210057
      ],
      "position_mm": [
        232.47484541880328,
        -49.16938444315495,
        258.42291833210055
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        0.0,
        -1.0
      ]
    },
    {
      "marker_id": 243,
      "position_m": [
        0.23209919475703014,
        -0.037946117246076036,
        0.30662969146679636
      ],
      "position_mm": [
        232.09919475703015,
        -37.946117246076035,
        306.6296914667964
      ],
      "link": "Arm1",
      "normal": [
        0.0,
        -1.0,
        0.0
      ]
    },
    {
      "marker_id": 246,
      "position_m": [
        0.3214981600105588,
        -0.04574752209012174,
        0.29782419466706217
      ],
      "position_mm": [
        321.4981600105588,
        -45.74752209012174,
        297.82419466706216
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    },
    {
      "marker_id": 247,
      "position_m": [
        0.28438844807598634,
        -0.04315368749887768,
        0.3025568431496125
      ],
      "position_mm": [
        284.38844807598633,
        -43.15368749887768,
        302.5568431496125
      ],
      "link": "Ellbow",
      "normal": [
        0.0,
        0.0,
        1.0
      ]
    }
  ]
}