{ "schema_version": "1.2", "created_utc": "2026-06-02T14:49:42Z", "summary": { "num_cameras": 7, "num_markers": 48, "num_constraints": 94 }, "cameras": [ { "camera_id": "a", "position_m": [ -0.2999039553024492, -0.7966331104538593, 0.8022965428228306 ], "position_mm": [ -299.90395530244916, -796.6331104538593, 802.2965428228306 ], "direction": [ 0.4790363907814026, 0.655602753162384, -0.5837029814720154 ] }, { "camera_id": "b", "position_m": [ 0.2997741245358298, -0.8919452713410032, 1.1998563182979443 ], "position_mm": [ 299.7741245358298, -891.9452713410033, 1199.8563182979442 ], "direction": [ 0.008538469672203064, 0.6230279803276062, -0.7821529507637024 ] }, { "camera_id": "c", "position_m": [ 0.30200652155301316, -0.9020153808807998, 0.39842941410859795 ], "position_mm": [ 302.00652155301316, -902.0153808807999, 398.42941410859794 ], "direction": [ -0.10717876255512238, 0.9495941400527954, -0.2945907711982727 ] }, { "camera_id": "d", "position_m": [ 0.7005523974946344, -0.7953874519308782, 0.40063197730228306 ], "position_mm": [ 700.5523974946344, -795.3874519308782, 400.6319773022831 ], "direction": [ -0.5518289804458618, 0.7841700911521912, -0.2838345468044281 ] }, { "camera_id": "e", "position_m": [ 1.2031666552274363, -0.9024200483733755, 0.40396080672886847 ], "position_mm": [ 1203.1666552274362, -902.4200483733755, 403.9608067288685 ], "direction": [ -0.7491942644119263, 0.6063534617424011, -0.26653963327407837 ] }, { "camera_id": "f", "position_m": [ 0.48527535699969704, -0.3052028540305418, 1.4031193543203273 ], "position_mm": [ 485.275356999697, -305.2028540305418, 1403.1193543203274 ], "direction": [ -0.22739066183567047, 0.08463967591524124, -0.9701183438301086 ] }, { "camera_id": "g", "position_m": [ -0.2072035888495123, 0.2035164095056965, 1.4022641029137521 ], "position_mm": [ -207.2035888495123, 203.5164095056965, 1402.2641029137521 ], "direction": [ 0.30012577772140503, -0.29805290699005127, -0.906139612197876 ] } ], "markers": [ { "marker_id": 40, "position_m": [ 0.29429175234205074, -0.1776515114310973, 0.32220280662690026 ], "position_mm": [ 294.29175234205076, -177.6515114310973, 322.20280662690027 ], "link": "FingerA", "normal": [ -0.4224220616915755, 0.0, -0.9063992507699015 ] }, { "marker_id": 41, "position_m": [ 0.25700314560544546, -0.14442938495696991, 0.34612840731890043 ], "position_mm": [ 257.00314560544547, -144.42938495696993, 346.12840731890043 ], "link": "FingerA", "normal": [ 0.0, -0.9375276894468237, 0.34791066600565723 ] }, { "marker_id": 43, "position_m": [ 0.24307084931783163, -0.1755576693140974, 0.3463092603005123 ], "position_mm": [ 243.07084931783163, -175.55766931409738, 346.3092603005123 ], "link": "FingerB", "normal": [ 0.4224220616915755, 0.0, 0.9063992507699015 ] }, { "marker_id": 44, "position_m": [ 0.2644019490588239, -0.17360821479964922, 0.2974214589400188 ], "position_mm": [ 264.4019490588239, -173.60821479964923, 297.4214589400188 ], "link": "FingerB", "normal": [ 0.0, -0.9375276894468237, -0.34791066600565723 ] }, { "marker_id": 45, "position_m": [ 0.2544446590334177, -0.19466486517771805, 0.3387216070570636 ], "position_mm": [ 254.44465903341768, -194.66486517771804, 338.72160705706364 ], "link": "FingerB", "normal": [ -0.8830215713766957, -0.3090575499818435, -0.3532086285506783 ] }, { "marker_id": 46, "position_m": [ 0.5367457880722574, 0.1836312143549933, -0.03286708453721776 ], "position_mm": [ 536.7457880722574, 183.6312143549933, -32.867084537217764 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 47, "position_m": [ 0.34502910984933255, -0.2852047768426459, -0.03144735171423805 ], "position_mm": [ 345.02910984933254, -285.2047768426459, -31.44735171423805 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 48, "position_m": [ 0.6874733995615988, -0.31848615574775, -0.027264960908029635 ], "position_mm": [ 687.4733995615989, -318.48615574775005, -27.264960908029636 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.1679398207615717, -0.1738333693002722, -0.027197411816225106 ], "position_mm": [ 167.93982076157172, -173.8333693002722, -27.197411816225106 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 53, "position_m": [ 0.4878724640908255, 0.21121792579662554, -0.0244249708278288 ], "position_mm": [ 487.87246409082553, 211.21792579662554, -24.424970827828798 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.3403414026513694, -0.32873846963090364, -0.02624406786740012 ], "position_mm": [ 340.34140265136944, -328.73846963090364, -26.24406786740012 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 55, "position_m": [ 0.28479448639921306, -0.2608667340694298, -0.027575211667899002 ], "position_mm": [ 284.79448639921304, -260.8667340694298, -27.575211667899 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 56, "position_m": [ 0.4989606892940524, 0.16735971105951722, -0.02694792539130134 ], "position_mm": [ 498.96068929405243, 167.35971105951722, -26.94792539130134 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.048690529704197676, -0.21704740616587387, -0.02654551280144986 ], "position_mm": [ 48.69052970419767, -217.04740616587387, -26.545512801449863 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.6247500735599291, -0.2768826393205976, -0.027668688013217917 ], "position_mm": [ 624.7500735599291, -276.8826393205976, -27.668688013217917 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4045823521220291, -0.1730565195471775, -0.027797941434716415 ], "position_mm": [ 404.5823521220291, -173.0565195471775, -27.797941434716414 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 63, "position_m": [ 0.775304964437207, -0.2360612296327021, -0.027564679301365247 ], "position_mm": [ 775.304964437207, -236.0612296327021, -27.564679301365246 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.02221597826993512, -0.18620439633794064, -0.028997462777002204 ], "position_mm": [ -22.21597826993512, -186.20439633794064, -28.997462777002205 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 66, "position_m": [ 0.20985438241695573, -0.3650040445979106, -0.029294405641671496 ], "position_mm": [ 209.85438241695573, -365.0040445979106, -29.294405641671496 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.005498514108676188, -0.2796605137354719, -0.02696095481938509 ], "position_mm": [ 5.498514108676188, -279.6605137354719, -26.96095481938509 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 71, "position_m": [ 0.7505930708916752, -0.28547288042153274, -0.02585780817540503 ], "position_mm": [ 750.5930708916751, -285.47288042153275, -25.85780817540503 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 72, "position_m": [ 0.44263653008002135, 0.19388320541109022, -0.0292013397024427 ], "position_mm": [ 442.6365300800214, 193.88320541109022, -29.201339702442702 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.31206927947270974, -0.15846679582541093, -0.027439668225752074 ], "position_mm": [ 312.06927947270975, -158.46679582541094, -27.439668225752072 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 82, "position_m": [ 0.21820871243554404, 0.29654922963725944, -0.02821043958470651 ], "position_mm": [ 218.20871243554404, 296.54922963725943, -28.21043958470651 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5063621036578432, -0.31406418372516637, -0.02715985095505951 ], "position_mm": [ 506.3621036578432, -314.06418372516634, -27.15985095505951 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 86, "position_m": [ 0.36201532500423655, 0.2945860260039141, -0.026998426305426322 ], "position_mm": [ 362.01532500423656, 294.58602600391407, -26.99842630542632 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 92, "position_m": [ 0.6465252615069373, -0.1852169874166232, -0.027886044725278378 ], "position_mm": [ 646.5252615069373, -185.2169874166232, -27.886044725278378 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.1865015642705796, -0.2757641207366486, -0.027698546859787114 ], "position_mm": [ 186.5015642705796, -275.7641207366486, -27.698546859787115 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.3698872182691444, -0.1850946301597527, -0.02672354861631785 ], "position_mm": [ 369.8872182691444, -185.09463015975268, -26.72354861631785 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 97, "position_m": [ 0.3042794698072207, -0.3600541821126199, -0.024686445674776968 ], "position_mm": [ 304.2794698072207, -360.0541821126199, -24.68644567477697 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.6525801603936152, -0.22317198454447656, -0.027574388272887846 ], "position_mm": [ 652.5801603936152, -223.17198454447657, -27.574388272887845 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10597365276368206, -0.1899381217164115, -0.027748977052054705 ], "position_mm": [ 105.97365276368207, -189.9381217164115, -27.748977052054705 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 105, "position_m": [ 0.5231711961426683, -0.26621565507666156, -0.027989332727226545 ], "position_mm": [ 523.1711961426682, -266.21565507666156, -27.989332727226547 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 114, "position_m": [ 0.287252655459149, -0.1844901599477898, 0.2357728140598691 ], "position_mm": [ 287.252655459149, -184.4901599477898, 235.77281405986912 ], "link": "Arm2", "normal": [ 0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 115, "position_m": [ 0.23971702222195967, -0.17094312783990284, 0.2384644160745432 ], "position_mm": [ 239.71702222195967, -170.94312783990284, 238.46441607454318 ], "link": "Arm2", "normal": [ -0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 120, "position_m": [ 0.3083769738636119, -0.23849810361373125, 0.19656570119279576 ], "position_mm": [ 308.3769738636119, -238.49810361373125, 196.56570119279576 ], "link": "Arm2", "normal": [ 0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 198, "position_m": [ 0.1564411452590089, -0.05368451570178302, 0.09184705050880679 ], "position_mm": [ 156.4411452590089, -53.68451570178302, 91.84705050880679 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 206, "position_m": [ 0.6508180378127133, -0.010362860317377029, 0.00037956342896588476 ], "position_mm": [ 650.8180378127133, -10.362860317377029, 0.37956342896588474 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.3527317767096458, -0.09147686622386693, 0.0011640470147831618 ], "position_mm": [ 352.73177670964577, -91.47686622386694, 1.1640470147831619 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.02196610887729357, -0.01903425066323913, 0.00047087065390080896 ], "position_mm": [ 21.966108877293568, -19.034250663239128, 0.47087065390080896 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.34839908921971385, -0.011596891344095986, 0.0005205434260888519 ], "position_mm": [ 348.39908921971386, -11.596891344095987, 0.5205434260888518 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 217, "position_m": [ 0.6468171267011035, -0.0902602601628517, -0.00025208621129542446 ], "position_mm": [ 646.8171267011035, -90.2602601628517, -0.25208621129542447 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 229, "position_m": [ 0.15794083985304283, -0.14340537413547996, 0.08492436456492168 ], "position_mm": [ 157.94083985304283, -143.40537413547997, 84.92436456492167 ], "link": "Arm1", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 232, "position_m": [ 0.23308709054866752, -0.10177709504576371, 0.014839591505443716 ], "position_mm": [ 233.08709054866753, -101.77709504576372, 14.839591505443716 ], "link": "Ellbow", "normal": [ 0.0, 0.7071067811865475, -0.7071067811865475 ] }, { "marker_id": 243, "position_m": [ 0.1606646048720435, -0.17480115362060622, 0.04675491216455681 ], "position_mm": [ 160.6646048720435, -174.80115362060621, 46.754912164556806 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 244, "position_m": [ 0.28143769479353253, -0.1264998072029022, 0.042090404560358695 ], "position_mm": [ 281.43769479353256, -126.49980720290219, 42.09040456035869 ], "link": "Ellbow", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 245, "position_m": [ 0.23469708569099743, -0.12616867027361697, 0.025804780824762195 ], "position_mm": [ 234.69708569099743, -126.16867027361697, 25.804780824762194 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] }, { "marker_id": 248, "position_m": [ 0.2105892354901528, -0.15107936131271876, 0.04010845712312386 ], "position_mm": [ 210.5892354901528, -151.07936131271876, 40.108457123123856 ], "link": "Ellbow", "normal": [ 0.0, 0.0, -1.0 ] } ] }