{
  "schema_version": "1.1",
  "stage": "corner_marker_poses",
  "created_utc": "2026-06-02T11:34:59Z",
  "summary": {
    "num_cameras": 7,
    "num_markers": 44
  },
  "cameras": [
    {
      "camera_id": "a",
      "position_m": [
        -0.30124957039980904,
        -0.7944876545661685,
        0.8037787426157785
      ],
      "position_mm": [
        -301.24957039980904,
        -794.4876545661685,
        803.7787426157786
      ],
      "direction": [
        0.47980576753616333,
        0.6539319157600403,
        -0.5849440097808838
      ]
    },
    {
      "camera_id": "b",
      "position_m": [
        0.2992685516461189,
        -0.8943330457127332,
        1.1994237518367032
      ],
      "position_mm": [
        299.26855164611885,
        -894.3330457127332,
        1199.4237518367033
      ],
      "direction": [
        0.008492227643728256,
        0.6244244575500488,
        -0.7810389995574951
      ]
    },
    {
      "camera_id": "c",
      "position_m": [
        0.30282794560993564,
        -0.9019934374300895,
        0.3969653085667525
      ],
      "position_mm": [
        302.8279456099356,
        -901.9934374300896,
        396.96530856675247
      ],
      "direction": [
        -0.10860881209373474,
        0.950280487537384,
        -0.29184088110923767
      ]
    },
    {
      "camera_id": "d",
      "position_m": [
        0.7009033692534113,
        -0.7938045371353849,
        0.4015259547375925
      ],
      "position_mm": [
        700.9033692534114,
        -793.8045371353849,
        401.5259547375925
      ],
      "direction": [
        -0.5532509684562683,
        0.7832618951797485,
        -0.2835738956928253
      ]
    },
    {
      "camera_id": "e",
      "position_m": [
        1.2035135397500643,
        -0.9079652321301859,
        0.40703240655709166
      ],
      "position_mm": [
        1203.5135397500642,
        -907.9652321301859,
        407.0324065570917
      ],
      "direction": [
        -0.7475296258926392,
        0.6078633666038513,
        -0.26777154207229614
      ]
    },
    {
      "camera_id": "f",
      "position_m": [
        0.5046715209052604,
        -0.30522094691764323,
        1.396188608264964
      ],
      "position_mm": [
        504.67152090526037,
        -305.22094691764323,
        1396.188608264964
      ],
      "direction": [
        -0.24210724234580994,
        0.08313090354204178,
        -0.9666815996170044
      ]
    },
    {
      "camera_id": "g",
      "position_m": [
        -0.20386971523637865,
        0.2039595844557583,
        1.3930435527820708
      ],
      "position_mm": [
        -203.86971523637865,
        203.9595844557583,
        1393.0435527820707
      ],
      "direction": [
        0.30111873149871826,
        -0.3009941279888153,
        -0.9048370122909546
      ]
    }
  ],
  "markers": [
    {
      "marker_id": 41,
      "link": "FingerA",
      "position_m": [
        0.24773637592282086,
        -0.1112800807883729,
        0.33807049608289197
      ],
      "position_mm": [
        247.73637592282086,
        -111.2800807883729,
        338.07049608289196
      ],
      "normal": [
        -0.18374860234704993,
        0.649443423319752,
        0.7378751188664835
      ],
      "corners_m": [
        [
          0.263676562128071,
          -0.1141380302814718,
          0.3446976043278647
        ],
        [
          0.24085412926655375,
          -0.1237489656004387,
          0.34718921925244317
        ],
        [
          0.23200141879576391,
          -0.10816883363763263,
          0.33155889508710956
        ],
        [
          0.25441339350089465,
          -0.09906449363394841,
          0.32883626566415025
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.19293953828288
    },
    {
      "marker_id": 42,
      "link": "FingerA",
      "position_m": [
        0.2155777913794558,
        -0.07813434463160379,
        0.3403596279063552
      ],
      "position_mm": [
        215.5777913794558,
        -78.1343446316038,
        340.35962790635523
      ],
      "normal": [
        -0.7840546733749001,
        -0.2179960765774117,
        0.5811505654783742
      ],
      "corners_m": [
        [
          0.22591026127287933,
          -0.08349801603965487,
          0.3523460234226505
        ],
        [
          0.21516355694601452,
          -0.09372637195055182,
          0.33389335176062057
        ],
        [
          0.20524188838122945,
          -0.07280835335031609,
          0.3284718316351822
        ],
        [
          0.21599545891769992,
          -0.06250463718589237,
          0.34672730480696756
        ]
      ],
      "num_cameras": 4,
      "edge_length_mm": 23.725580402663248
    },
    {
      "marker_id": 43,
      "link": "FingerB",
      "position_m": [
        0.2688645655120664,
        -0.0751379130942677,
        0.33915739957180446
      ],
      "position_mm": [
        268.8645655120664,
        -75.1379130942677,
        339.1573995718045
      ],
      "normal": [
        -0.09133201698441427,
        -0.494684725401748,
        0.8642600795638753
      ],
      "corners_m": [
        [
          0.27722011347898695,
          -0.06332124193769906,
          0.34684031382699304
        ],
        [
          0.28330549475214895,
          -0.0826796902680228,
          0.33633039457452324
        ],
        [
          0.260560041409664,
          -0.08716061300256897,
          0.3314339277603135
        ],
        [
          0.2543726124074658,
          -0.06739010716877998,
          0.34202496212538824
        ]
      ],
      "num_cameras": 5,
      "edge_length_mm": 23.378597609514564
    },
    {
      "marker_id": 46,
      "link": "Board",
      "position_m": [
        0.533810141389781,
        0.18236802957744025,
        -0.026558360963546846
      ],
      "position_mm": [
        533.810141389781,
        182.36802957744024,
        -26.558360963546846
      ],
      "normal": [
        0.033111059381460126,
        -0.050564373315581834,
        0.9981717797542866
      ],
      "corners_m": [
        [
          0.5223359914141261,
          0.17087480783584086,
          -0.02676306662962798
        ],
        [
          0.5219821500267833,
          0.1937678870487618,
          -0.025585424787388417
        ],
        [
          0.5453260127455136,
          0.19402710474930607,
          -0.026352803354840706
        ],
        [
          0.545596411372701,
          0.17080231867585233,
          -0.027532149082330277
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.203379033889043
    },
    {
      "marker_id": 47,
      "link": "Board",
      "position_m": [
        0.3437516302760811,
        -0.28834265563672756,
        -0.026758575696540526
      ],
      "position_mm": [
        343.7516302760811,
        -288.34265563672756,
        -26.758575696540525
      ],
      "normal": [
        -0.003964209562637437,
        0.053622017324276905,
        0.9985534358764274
      ],
      "corners_m": [
        [
          0.33221896847498134,
          -0.30040471757394793,
          -0.026016987406654146
        ],
        [
          0.3323671525931622,
          -0.27642685507063064,
          -0.027581840967819495
        ],
        [
          0.35540018219802716,
          -0.27642045416613026,
          -0.0272125301614014
        ],
        [
          0.3550202178381536,
          -0.3001185957362016,
          -0.02622294425028707
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.397782804739702
    },
    {
      "marker_id": 48,
      "link": "Board",
      "position_m": [
        0.6869583236989806,
        -0.3182583193046764,
        -0.02751350642085329
      ],
      "position_mm": [
        686.9583236989806,
        -318.25831930467643,
        -27.51350642085329
      ],
      "normal": [
        0.010337873750996126,
        -0.009398650711559433,
        0.9999023921019045
      ],
      "corners_m": [
        [
          0.675425367600162,
          -0.32985746834446594,
          -0.027433377153178777
        ],
        [
          0.6758709119645375,
          -0.3065747059410085,
          -0.02735940394269042
        ],
        [
          0.6984209361238067,
          -0.30682782093203326,
          -0.02745320099313329
        ],
        [
          0.698116079107416,
          -0.32977328200119804,
          -0.027808043594410657
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 22.870743111025135
    },
    {
      "marker_id": 51,
      "link": "Board",
      "position_m": [
        0.16796462466825574,
        -0.17278758216341053,
        -0.027723265374999292
      ],
      "position_mm": [
        167.96462466825574,
        -172.78758216341052,
        -27.723265374999293
      ],
      "normal": [
        0.002250793507255422,
        0.011901638479280496,
        0.9999266397741867
      ],
      "corners_m": [
        [
          0.15558238226928559,
          -0.18409588650308717,
          -0.02762522595024007
        ],
        [
          0.15618596972241475,
          -0.1607347917523937,
          -0.02777523886060495
        ],
        [
          0.18025097856938324,
          -0.1611513190948712,
          -0.027952635648926163
        ],
        [
          0.17983916811193934,
          -0.18516833130329005,
          -0.027539961040225984
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 23.93583954592153
    },
    {
      "marker_id": 53,
      "link": "Board",
      "position_m": [
        0.48786615484853396,
        0.21445535329260132,
        -0.026345293753757798
      ],
      "position_mm": [
        487.86615484853394,
        214.45535329260133,
        -26.345293753757797
      ],
      "normal": [
        0.05891895941060384,
        -0.05899040978577165,
        0.9965182827099954
      ],
      "corners_m": [
        [
          0.47590959130302607,
          0.20307805531437964,
          -0.02649638409330063
        ],
        [
          0.47626700148080137,
          0.22615230311039036,
          -0.02478270424293877
        ],
        [
          0.4998091168583639,
          0.22575909121858065,
          -0.02656818363567568
        ],
        [
          0.4994789097519446,
          0.20283196352705468,
          -0.027533903043116127
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.324203902455494
    },
    {
      "marker_id": 54,
      "link": "Board",
      "position_m": [
        0.33966604684911506,
        -0.3275627803958241,
        -0.02685098025498676
      ],
      "position_mm": [
        339.66604684911505,
        -327.5627803958241,
        -26.850980254986762
      ],
      "normal": [
        -0.01405814070621657,
        -0.017245180285096473,
        0.9997524555792894
      ],
      "corners_m": [
        [
          0.32815512767546934,
          -0.33899418519615393,
          -0.02731846241061645
        ],
        [
          0.3283214539737971,
          -0.3158286365019321,
          -0.026697733207001233
        ],
        [
          0.35097782911940867,
          -0.31604899274857196,
          -0.026602962200588935
        ],
        [
          0.3512097766277852,
          -0.33937930713663855,
          -0.02678476320174043
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 23.057080521972225
    },
    {
      "marker_id": 55,
      "link": "Board",
      "position_m": [
        0.28444528636794997,
        -0.261038061134383,
        -0.027241178352564357
      ],
      "position_mm": [
        284.44528636794996,
        -261.038061134383,
        -27.241178352564358
      ],
      "normal": [
        -0.010618352276175108,
        0.007855959810914914,
        0.9999127634400856
      ],
      "corners_m": [
        [
          0.27222788516595564,
          -0.27213587790710514,
          -0.027109445607892028
        ],
        [
          0.2732320567207475,
          -0.24898298528502666,
          -0.02763250474344449
        ],
        [
          0.2964364443374576,
          -0.25015750665610137,
          -0.027018242606575756
        ],
        [
          0.295884759247639,
          -0.27287587468929886,
          -0.02720452045234516
        ]
      ],
      "num_cameras": 4,
      "edge_length_mm": 23.204309382732692
    },
    {
      "marker_id": 56,
      "link": "Board",
      "position_m": [
        0.49975265846989714,
        0.1651459685000613,
        -0.02705971429215995
      ],
      "position_mm": [
        499.75265846989714,
        165.14596850006131,
        -27.059714292159953
      ],
      "normal": [
        0.06967479850286956,
        -0.019089615493114057,
        0.9973870908698937
      ],
      "corners_m": [
        [
          0.48790394796539444,
          0.1535995191195731,
          -0.026636703368816506
        ],
        [
          0.4881988363154697,
          0.17679716217192992,
          -0.025846263613873415
        ],
        [
          0.5115988013437655,
          0.1766054380836686,
          -0.02785275350036633
        ],
        [
          0.511309048254959,
          0.15358175462507365,
          -0.027903136685583557
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.291125390615427
    },
    {
      "marker_id": 58,
      "link": "Board",
      "position_m": [
        0.04781104030078247,
        -0.2173864660185277,
        -0.02665591760239056
      ],
      "position_mm": [
        47.811040300782466,
        -217.3864660185277,
        -26.65591760239056
      ],
      "normal": [
        0.008294606900098544,
        0.0007294092699534628,
        0.9999653331283489
      ],
      "corners_m": [
        [
          0.03636443710223408,
          -0.22937658876078126,
          -0.02655533875604809
        ],
        [
          0.035635296981448794,
          -0.20632892950821297,
          -0.02655995089322362
        ],
        [
          0.05956334606982216,
          -0.20541791513268798,
          -0.026765176958778124
        ],
        [
          0.05968108104962482,
          -0.22842243067242865,
          -0.02674320380151241
        ]
      ],
      "num_cameras": 4,
      "edge_length_mm": 23.336799356829285
    },
    {
      "marker_id": 59,
      "link": "Board",
      "position_m": [
        0.6272963158346136,
        -0.27667424350588704,
        -0.026994875437086688
      ],
      "position_mm": [
        627.2963158346137,
        -276.67424350588703,
        -26.994875437086687
      ],
      "normal": [
        -0.009273601007929027,
        -0.02288480449692665,
        0.9996950965406819
      ],
      "corners_m": [
        [
          0.6163591190458835,
          -0.2884317967810988,
          -0.02713595502954838
        ],
        [
          0.6154738644173887,
          -0.26585423149466575,
          -0.02709007517695279
        ],
        [
          0.6380431850317375,
          -0.2648516790379347,
          -0.02639301561777855
        ],
        [
          0.6393090948434452,
          -0.28755926670984894,
          -0.027360455924067023
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 22.732088895803102
    },
    {
      "marker_id": 62,
      "link": "Board",
      "position_m": [
        0.4018875394307442,
        -0.1732475249080542,
        -0.02748928211453278
      ],
      "position_mm": [
        401.8875394307442,
        -173.2475249080542,
        -27.48928211453278
      ],
      "normal": [
        0.0008914539030721118,
        0.010445325465984423,
        0.9999450487331033
      ],
      "corners_m": [
        [
          0.3906269285704888,
          -0.1851496299631142,
          -0.027399359898535154
        ],
        [
          0.389910725291629,
          -0.16222813493843335,
          -0.027548506016449308
        ],
        [
          0.41293892681820615,
          -0.1611103697527919,
          -0.02767019103279491
        ],
        [
          0.41407357704265263,
          -0.1845019649778773,
          -0.027339071510351736
        ]
      ],
      "num_cameras": 5,
      "edge_length_mm": 23.216477272090195
    },
    {
      "marker_id": 63,
      "link": "Board",
      "position_m": [
        0.77571933731904,
        -0.23608821310376402,
        -0.027884073113764774
      ],
      "position_mm": [
        775.7193373190399,
        -236.08821310376402,
        -27.884073113764774
      ],
      "normal": [
        0.003847656321748028,
        0.023871071917474757,
        0.9997076409962767
      ],
      "corners_m": [
        [
          0.764506255053383,
          -0.2478958844030831,
          -0.02757704694869165
        ],
        [
          0.7644216000758636,
          -0.22494025207583168,
          -0.028088367025559932
        ],
        [
          0.7867254976635447,
          -0.2244344712569192,
          -0.02822335392519071
        ],
        [
          0.7872239964833687,
          -0.24708224467922216,
          -0.02764752455561681
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 22.666128747563647
    },
    {
      "marker_id": 64,
      "link": "Board",
      "position_m": [
        -0.019079244725718245,
        -0.18969360187549775,
        -0.027054408262057277
      ],
      "position_mm": [
        -19.079244725718244,
        -189.69360187549773,
        -27.054408262057276
      ],
      "normal": [
        0.0045880323238555246,
        0.0037345352890534866,
        0.9999825014496855
      ],
      "corners_m": [
        [
          -0.031085633874626612,
          -0.2015710518426233,
          -0.02685213020891054
        ],
        [
          -0.030479016608099787,
          -0.17802901562261686,
          -0.027149563130372603
        ],
        [
          -0.007194991423452339,
          -0.1780001649937501,
          -0.02704707035868634
        ],
        [
          -0.007557336996694242,
          -0.20117417504300072,
          -0.02716886935025963
        ]
      ],
      "num_cameras": 4,
      "edge_length_mm": 23.386733859118777
    },
    {
      "marker_id": 66,
      "link": "Board",
      "position_m": [
        0.2095212897791884,
        -0.36462588908862625,
        -0.029121799474857515
      ],
      "position_mm": [
        209.5212897791884,
        -364.62588908862625,
        -29.121799474857514
      ],
      "normal": [
        0.0413266021875678,
        -0.06977554037656664,
        0.9967063187904392
      ],
      "corners_m": [
        [
          0.19740636246156884,
          -0.3757613541092326,
          -0.02942493994675689
        ],
        [
          0.19850442034120008,
          -0.3524602650134223,
          -0.027787693166278007
        ],
        [
          0.22176274148878805,
          -0.3533553519674644,
          -0.028865706720292535
        ],
        [
          0.22041163482519666,
          -0.3769265852643858,
          -0.030408858066102617
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.350222845380028
    },
    {
      "marker_id": 68,
      "link": "Board",
      "position_m": [
        0.5741709935873737,
        0.17356730600866016,
        -0.026473985216318663
      ],
      "position_mm": [
        574.1709935873737,
        173.56730600866015,
        -26.473985216318663
      ],
      "normal": [
        0.11011564623706414,
        0.020117355964789137,
        0.99371516866896
      ],
      "corners_m": [
        [
          0.5623720966108633,
          0.1614242063321435,
          -0.02468050564189996
        ],
        [
          0.562189050592998,
          0.18493837354019307,
          -0.025617658665837068
        ],
        [
          0.585974066181229,
          0.18553162033591492,
          -0.027779020174362824
        ],
        [
          0.5861487609644046,
          0.16237502382638924,
          -0.027818756383174797
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.64573413063871
    },
    {
      "marker_id": 69,
      "link": "Board",
      "position_m": [
        0.006172237043230878,
        -0.2780547321208089,
        -0.02715451483929019
      ],
      "position_mm": [
        6.1722370432308775,
        -278.05473212080886,
        -27.15451483929019
      ],
      "normal": [
        0.011480509826746579,
        0.019089397834651023,
        0.9997518656068757
      ],
      "corners_m": [
        [
          -0.005752476171469427,
          -0.28958982892020557,
          -0.02672470590781267
        ],
        [
          -0.005044261991184254,
          -0.266090364444171,
          -0.027327622093049106
        ],
        [
          0.01796597805737077,
          -0.26648692521955863,
          -0.02743753301603479
        ],
        [
          0.017519708278206425,
          -0.2900518098993003,
          -0.027128198340264205
        ]
      ],
      "num_cameras": 4,
      "edge_length_mm": 23.345797302902483
    },
    {
      "marker_id": 72,
      "link": "Board",
      "position_m": [
        0.441065818248817,
        0.19319535286224196,
        -0.0267297193661123
      ],
      "position_mm": [
        441.06581824881704,
        193.19535286224195,
        -26.7297193661123
      ],
      "normal": [
        0.015704293153701896,
        -0.0016288599850449172,
        0.9998753532274369
      ],
      "corners_m": [
        [
          0.43002962201854356,
          0.18093270954224214,
          -0.026358538814544988
        ],
        [
          0.42882888351747855,
          0.20455272933929866,
          -0.026733986558186516
        ],
        [
          0.45228294966686944,
          0.20491771165709446,
          -0.026661361972213988
        ],
        [
          0.45312181779237665,
          0.18237826091033263,
          -0.02716499011950372
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 23.20566073575613
    },
    {
      "marker_id": 79,
      "link": "Board",
      "position_m": [
        0.3116183377967007,
        -0.15940589051429102,
        -0.02715192512804389
      ],
      "position_mm": [
        311.6183377967007,
        -159.40589051429103,
        -27.15192512804389
      ],
      "normal": [
        -0.00010403057203368503,
        0.008057990387253904,
        0.999967528457079
      ],
      "corners_m": [
        [
          0.29909494025728567,
          -0.1706650708885351,
          -0.02722343541950309
        ],
        [
          0.30026984257491635,
          -0.1475693841978099,
          -0.02708263561114706
        ],
        [
          0.32378840517368684,
          -0.1478536419213766,
          -0.027405641915746914
        ],
        [
          0.32332016318091406,
          -0.17153546504944253,
          -0.026895987565778483
        ]
      ],
      "num_cameras": 4,
      "edge_length_mm": 23.64586958679046
    },
    {
      "marker_id": 83,
      "link": "Board",
      "position_m": [
        0.045717928060277135,
        0.3426497218435324,
        -0.028873208698029052
      ],
      "position_mm": [
        45.71792806027714,
        342.64972184353235,
        -28.873208698029053
      ],
      "normal": [
        0.004149054551326358,
        0.02674949554344175,
        0.9996335577772996
      ],
      "corners_m": [
        [
          0.033234935101875696,
          0.3312631379916027,
          -0.02854138919439705
        ],
        [
          0.03447000892484201,
          0.3549123332808729,
          -0.02912940886592555
        ],
        [
          0.05793811089013084,
          0.3542319163566366,
          -0.02925872579128035
        ],
        [
          0.05722865732425998,
          0.33019149974501727,
          -0.02856331094051326
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.811407273185086
    },
    {
      "marker_id": 85,
      "link": "Board",
      "position_m": [
        0.5060144112186344,
        -0.31411613929589677,
        -0.02692392948777861
      ],
      "position_mm": [
        506.01441121863445,
        -314.11613929589674,
        -26.923929487778608
      ],
      "normal": [
        0.001634001062493619,
        0.01165807228588156,
        0.999930707294813
      ],
      "corners_m": [
        [
          0.49372787902039234,
          -0.32538775532420283,
          -0.02674531186406693
        ],
        [
          0.4951684414158999,
          -0.3018619823422194,
          -0.027076511581265002
        ],
        [
          0.5181582782386246,
          -0.3030621487343549,
          -0.02704468623357163
        ],
        [
          0.5170030461996209,
          -0.3261526707828101,
          -0.02682920827221087
        ]
      ],
      "num_cameras": 4,
      "edge_length_mm": 23.250404698222663
    },
    {
      "marker_id": 86,
      "link": "Board",
      "position_m": [
        0.36204420536689497,
        0.29386377416414056,
        -0.027477387257331058
      ],
      "position_mm": [
        362.04420536689497,
        293.8637741641406,
        -27.47738725733106
      ],
      "normal": [
        0.0017227992590192944,
        0.009914292636225147,
        0.9999493681003236
      ],
      "corners_m": [
        [
          0.35064094174481647,
          0.2823432651040029,
          -0.02739197518490842
        ],
        [
          0.3501191220130894,
          0.3050578875678498,
          -0.02751927684035296
        ],
        [
          0.373436483557011,
          0.30490856356914564,
          -0.027657188510871566
        ],
        [
          0.3739802741526631,
          0.2831453804155637,
          -0.027341108493191282
        ]
      ],
      "num_cameras": 4,
      "edge_length_mm": 22.791164272507185
    },
    {
      "marker_id": 92,
      "link": "Board",
      "position_m": [
        0.6466942940351619,
        -0.1876213493782718,
        -0.026890145035225216
      ],
      "position_mm": [
        646.6942940351619,
        -187.6213493782718,
        -26.890145035225217
      ],
      "normal": [
        -0.008455999704976557,
        -0.010643551540842176,
        0.9999076011710217
      ],
      "corners_m": [
        [
          0.6352427636776433,
          -0.19857965493511356,
          -0.027112858560909586
        ],
        [
          0.6353531621516874,
          -0.1760151285059154,
          -0.026853040118624747
        ],
        [
          0.6578518867716616,
          -0.1769872009749382,
          -0.026692347720734515
        ],
        [
          0.6583293635396553,
          -0.19890341309712004,
          -0.02690233374063201
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 22.52470701338139
    },
    {
      "marker_id": 95,
      "link": "Board",
      "position_m": [
        0.18667531862027578,
        -0.27706164570716874,
        -0.02692064993856237
      ],
      "position_mm": [
        186.6753186202758,
        -277.06164570716874,
        -26.92064993856237
      ],
      "normal": [
        0.010418590086531704,
        0.0037064249904977813,
        0.9999388558278944
      ],
      "corners_m": [
        [
          0.1756361169498136,
          -0.2893651436956918,
          -0.026686543964026
        ],
        [
          0.17432332053618277,
          -0.26604945975666566,
          -0.026905977399344923
        ],
        [
          0.1977755886367711,
          -0.265057231496667,
          -0.027005644580665317
        ],
        [
          0.19896624835833562,
          -0.2877747478796505,
          -0.02708443381021325
        ]
      ],
      "num_cameras": 5,
      "edge_length_mm": 23.240899855678574
    },
    {
      "marker_id": 96,
      "link": "Board",
      "position_m": [
        0.3716750992754262,
        -0.18404806261332252,
        -0.027724203487292244
      ],
      "position_mm": [
        371.6750992754262,
        -184.04806261332251,
        -27.724203487292243
      ],
      "normal": [
        0.004568950438418408,
        -0.012414483035115415,
        0.9999124988232031
      ],
      "corners_m": [
        [
          0.35993494662196984,
          -0.19528970943347473,
          -0.02796574373340334
        ],
        [
          0.3597932697199103,
          -0.17231369477021058,
          -0.02737035689672369
        ],
        [
          0.38354767078030105,
          -0.1727324186736395,
          -0.027790852259626617
        ],
        [
          0.3834245099795238,
          -0.19585642757596528,
          -0.027769861059415327
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 23.341884527165213
    },
    {
      "marker_id": 97,
      "link": "Board",
      "position_m": [
        0.30615699984592204,
        -0.35861943674676766,
        -0.026615964649245566
      ],
      "position_mm": [
        306.15699984592203,
        -358.61943674676763,
        -26.615964649245566
      ],
      "normal": [
        0.011427483113536703,
        0.0014272275829662062,
        0.9999336856267601
      ],
      "corners_m": [
        [
          0.29450501155861,
          -0.3702076677057734,
          -0.026503793027383128
        ],
        [
          0.294778907288875,
          -0.3465618314833256,
          -0.0264656823846525
        ],
        [
          0.31782650947121144,
          -0.34725274400735084,
          -0.02680372557028452
        ],
        [
          0.3175175710649919,
          -0.3704555037906209,
          -0.02669065761466211
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 23.2319078336396
    },
    {
      "marker_id": 102,
      "link": "Board",
      "position_m": [
        0.6518232718022428,
        -0.22389250151606782,
        -0.027618098772926532
      ],
      "position_mm": [
        651.8232718022427,
        -223.89250151606782,
        -27.618098772926533
      ],
      "normal": [
        0.0059171802679245395,
        0.001966936192615898,
        0.999980558880867
      ],
      "corners_m": [
        [
          0.6397659647141719,
          -0.23519843981762295,
          -0.027353084768961054
        ],
        [
          0.6410831430977543,
          -0.21169209907445818,
          -0.027754816625584215
        ],
        [
          0.6635549608640898,
          -0.21292186314679243,
          -0.027527519319908485
        ],
        [
          0.6628890185329551,
          -0.23575760402539764,
          -0.02783697437725237
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 23.008913089434127
    },
    {
      "marker_id": 103,
      "link": "Board",
      "position_m": [
        0.10479521434100651,
        -0.19092072412195843,
        -0.027321727062863958
      ],
      "position_mm": [
        104.79521434100651,
        -190.92072412195844,
        -27.321727062863957
      ],
      "normal": [
        0.012839842913940224,
        0.009234416763407416,
        0.9998749241685108
      ],
      "corners_m": [
        [
          0.09320838953915449,
          -0.20297790583184605,
          -0.027092906189239443
        ],
        [
          0.09281731983307982,
          -0.1796292450702335,
          -0.027240355288285566
        ],
        [
          0.11619258196828815,
          -0.1789839387629035,
          -0.02761048074873892
        ],
        [
          0.11696256602350359,
          -0.2020918068228506,
          -0.027343166025191896
        ]
      ],
      "num_cameras": 6,
      "edge_length_mm": 23.40843777163942
    },
    {
      "marker_id": 113,
      "link": "Arm2",
      "position_m": [
        0.2722242832985722,
        -0.1629169160351981,
        0.2357794688520658
      ],
      "position_mm": [
        272.2242832985722,
        -162.91691603519808,
        235.7794688520658
      ],
      "normal": [
        0.3348226718594305,
        -0.9399982487613714,
        0.06555204599756782
      ],
      "corners_m": [
        [
          0.28412888953318116,
          -0.15979875962309284,
          0.2237953805482778
        ],
        [
          0.2609821165048915,
          -0.16748086668299625,
          0.22362645209392007
        ],
        [
          0.26027065396466315,
          -0.16662341517151044,
          0.24773376392775323
        ],
        [
          0.2835154731915531,
          -0.1577646226631928,
          0.2479622788383121
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 24.414687846079524
    },
    {
      "marker_id": 198,
      "link": "Arm1",
      "position_m": [
        0.17078205422654572,
        -0.05215918287112275,
        0.0903193558698542
      ],
      "position_mm": [
        170.7820542265457,
        -52.15918287112275,
        90.3193558698542
      ],
      "normal": [
        -0.005305387860684577,
        -0.029507286743579386,
        0.9995504854126579
      ],
      "corners_m": [
        [
          0.15978399292763504,
          -0.039803905878290434,
          0.09049542041447427
        ],
        [
          0.1828305608789735,
          -0.04151911847386196,
          0.09082880067897219
        ],
        [
          0.18205086270653195,
          -0.06442769899519112,
          0.08988854101403128
        ],
        [
          0.1584628003930424,
          -0.06288600813714748,
          0.09006466137193907
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 23.204193640438792
    },
    {
      "marker_id": 206,
      "link": "Board",
      "position_m": [
        0.6505848548076747,
        -0.010535435134644552,
        5.917023151666569e-05
      ],
      "position_mm": [
        650.5848548076747,
        -10.535435134644551,
        0.05917023151666569
      ],
      "normal": [
        -0.04512795568419283,
        -0.022873145690599058,
        0.9987193233446433
      ],
      "corners_m": [
        [
          0.6387866941652963,
          0.0008764973551527498,
          0.00044175912552793094
        ],
        [
          0.6615054073388881,
          0.001350082832919495,
          0.00022793027353877385
        ],
        [
          0.6619194938987029,
          -0.02301277721718164,
          0.0009080230033311428
        ],
        [
          0.6401278238278113,
          -0.02135554350946881,
          -0.0013410314763311847
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 22.853557651099162
    },
    {
      "marker_id": 208,
      "link": "Board",
      "position_m": [
        0.35267226886532616,
        -0.08916362729166606,
        0.00015066577091923356
      ],
      "position_mm": [
        352.67226886532615,
        -89.16362729166606,
        0.15066577091923355
      ],
      "normal": [
        -0.014122790214905652,
        0.006061700341267293,
        0.9998818943182831
      ],
      "corners_m": [
        [
          0.34139994924525774,
          -0.07670909470103736,
          -2.5834231191882686e-05
        ],
        [
          0.36497915734122377,
          -0.0780042058455889,
          0.000197989479884911
        ],
        [
          0.36419740584348287,
          -0.10150107055832494,
          0.0004458885309903535
        ],
        [
          0.3401125630313402,
          -0.10044013806171309,
          -1.538069600644759e-05
        ]
      ],
      "num_cameras": 5,
      "edge_length_mm": 23.751383214131607
    },
    {
      "marker_id": 210,
      "link": "Board",
      "position_m": [
        0.022031694951892347,
        -0.020084264571350496,
        0.000897784569240606
      ],
      "position_mm": [
        22.031694951892348,
        -20.084264571350495,
        0.897784569240606
      ],
      "normal": [
        0.005703431667848421,
        0.01658766027184422,
        0.9998461483617948
      ],
      "corners_m": [
        [
          0.010247300002464346,
          -0.008205443692825653,
          0.0007209358537656266
        ],
        [
          0.03339308242466193,
          -0.007981157533091083,
          0.0006798644697462225
        ],
        [
          0.03415654428517803,
          -0.031783045973664215,
          0.000976391146613986
        ],
        [
          0.010329853095265086,
          -0.03236741108582103,
          0.0012139468068365895
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 23.741264687274487
    },
    {
      "marker_id": 214,
      "link": "Board",
      "position_m": [
        0.3486653871200297,
        -0.011776007533067595,
        0.0003940943739790084
      ],
      "position_mm": [
        348.6653871200297,
        -11.776007533067595,
        0.3940943739790084
      ],
      "normal": [
        -0.010331123905123179,
        0.005029133770560579,
        0.9999339856672413
      ],
      "corners_m": [
        [
          0.3371842160253936,
          9.244191196885095e-05,
          0.00011831400426333423
        ],
        [
          0.36083430597684385,
          -0.0003777901647170653,
          0.0005598841648166279
        ],
        [
          0.36023754218491266,
          -0.023656517030255095,
          0.0004767482285314252
        ],
        [
          0.33640548429296857,
          -0.023162164849267072,
          0.0004214310983046462
        ]
      ],
      "num_cameras": 5,
      "edge_length_mm": 23.51306838319238
    },
    {
      "marker_id": 215,
      "link": "Board",
      "position_m": [
        0.2502672109624625,
        -0.08858303928476632,
        9.808881834311955e-05
      ],
      "position_mm": [
        250.2672109624625,
        -88.58303928476633,
        0.09808881834311954
      ],
      "normal": [
        -0.023458517008979853,
        0.015427262123642097,
        0.9996057710733306
      ],
      "corners_m": [
        [
          0.2394439876110875,
          -0.07610016877100492,
          -0.00031495935072270605
        ],
        [
          0.2624933107745246,
          -0.07742096815794199,
          0.0001791746938574827
        ],
        [
          0.26114744026076153,
          -0.10108097753760872,
          0.0005797018119750114
        ],
        [
          0.23798410520347657,
          -0.09973004267250961,
          -5.1561881737309824e-05
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.42043481334446
    },
    {
      "marker_id": 217,
      "link": "Board",
      "position_m": [
        0.6470012221967807,
        -0.0894261950155899,
        -0.0004443145026195679
      ],
      "position_mm": [
        647.0012221967806,
        -89.42619501558991,
        -0.4443145026195679
      ],
      "normal": [
        0.04316613399118951,
        0.028573803041042404,
        0.9986592124724162
      ],
      "corners_m": [
        [
          0.635959514652692,
          -0.0770178685657923,
          -0.0002804213788711553
        ],
        [
          0.6599909501981838,
          -0.07846903089519187,
          -0.0013611379331842793
        ],
        [
          0.657797255236818,
          -0.10176433688187128,
          -0.0005151957928963585
        ],
        [
          0.634257168699429,
          -0.10045354371950418,
          0.0003794970944735215
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.65332973929555
    },
    {
      "marker_id": 229,
      "link": "Arm1",
      "position_m": [
        0.16738244250843695,
        -0.1422242329040978,
        0.086979158969783
      ],
      "position_mm": [
        167.38244250843695,
        -142.2242329040978,
        86.979158969783
      ],
      "normal": [
        0.010180811395812657,
        -0.03504225125356908,
        0.9993339740579247
      ],
      "corners_m": [
        [
          0.15556424765904275,
          -0.13084361422470703,
          0.08748952675075206
        ],
        [
          0.17892737025649494,
          -0.13036571621746465,
          0.08728636269737494
        ],
        [
          0.17936510666394506,
          -0.15373996426539313,
          0.08644441010450202
        ],
        [
          0.15567304545426508,
          -0.15394763690882637,
          0.08669633632650296
        ]
      ],
      "num_cameras": 5,
      "edge_length_mm": 23.393649175025413
    },
    {
      "marker_id": 232,
      "link": "Ellbow",
      "position_m": [
        0.25923439668822645,
        -0.16778483994091697,
        0.0282831839036473
      ],
      "position_mm": [
        259.23439668822647,
        -167.78483994091698,
        28.2831839036473
      ],
      "normal": [
        -0.00381160095492885,
        -0.7412808549824369,
        -0.6711841518798457
      ],
      "corners_m": [
        [
          0.24710566586088015,
          -0.17589582473602886,
          0.0373617343158352
        ],
        [
          0.2719804935561266,
          -0.17560073760133904,
          0.03679227478591746
        ],
        [
          0.27063495245091324,
          -0.15949899623739164,
          0.019121098230113185
        ],
        [
          0.24721647488498588,
          -0.16014380118890834,
          0.019857628282723364
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 23.953799370294423
    },
    {
      "marker_id": 243,
      "link": "Arm1",
      "position_m": [
        0.17092974373914188,
        -0.17553862917819915,
        0.04626653001923094
      ],
      "position_mm": [
        170.92974373914188,
        -175.53862917819916,
        46.26653001923094
      ],
      "normal": [
        0.009890726266284225,
        -0.9989936897357589,
        -0.043746787334155275
      ],
      "corners_m": [
        [
          0.1590334308238517,
          -0.17600023592214561,
          0.05834724501562683
        ],
        [
          0.18302824632841824,
          -0.17612457673128307,
          0.0583286092329774
        ],
        [
          0.1826913819856501,
          -0.17469225333954957,
          0.03369616366455737
        ],
        [
          0.15896591581864744,
          -0.1753374507198183,
          0.03469410216376218
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 24.02230732220161
    },
    {
      "marker_id": 244,
      "link": "Ellbow",
      "position_m": [
        0.2970393555244741,
        -0.14216478920922165,
        0.04922106327157015
      ],
      "position_mm": [
        297.0393555244741,
        -142.16478920922165,
        49.22106327157015
      ],
      "normal": [
        0.9994753192228102,
        0.03237997626570564,
        -0.0007895577838550152
      ],
      "corners_m": [
        [
          0.29687869486184154,
          -0.1303525519582016,
          0.036328195801019085
        ],
        [
          0.29719575551003896,
          -0.1543639268787315,
          0.0377061015502171
        ],
        [
          0.29768215804028664,
          -0.15532230789593837,
          0.06233805312672008
        ],
        [
          0.29640081368572924,
          -0.12862037010401517,
          0.060511902608324356
        ]
      ],
      "num_cameras": 2,
      "edge_length_mm": 24.938422887094184
    },
    {
      "marker_id": 245,
      "link": "Ellbow",
      "position_m": [
        0.26017661051330043,
        -0.17704612447382395,
        0.05264891741761879
      ],
      "position_mm": [
        260.17661051330043,
        -177.04612447382397,
        52.64891741761879
      ],
      "normal": [
        -0.012191356233470523,
        -0.9983905597470336,
        0.05538646983870443
      ],
      "corners_m": [
        [
          0.2723844349917162,
          -0.17635148157904942,
          0.06445130527175717
        ],
        [
          0.2721454295929197,
          -0.17803107473081886,
          0.04101620675404373
        ],
        [
          0.24826219140329178,
          -0.1773848980487912,
          0.04052032644354119
        ],
        [
          0.24791438606527408,
          -0.17641704353663634,
          0.06460783120113305
        ]
      ],
      "num_cameras": 4,
      "edge_length_mm": 23.993409097918658
    },
    {
      "marker_id": 248,
      "link": "Ellbow",
      "position_m": [
        0.22618576825978545,
        -0.1755630673302272,
        0.05249214869699724
      ],
      "position_mm": [
        226.18576825978545,
        -175.5630673302272,
        52.49214869699724
      ],
      "normal": [
        0.010673702848376918,
        -0.9993490216887105,
        0.03446164414710573
      ],
      "corners_m": [
        [
          0.2369707795974948,
          -0.17523808754470316,
          0.06508132701358206
        ],
        [
          0.23877551522426496,
          -0.17563995364706003,
          0.040030557718243105
        ],
        [
          0.2150675599605618,
          -0.1763259472400999,
          0.04040758416719776
        ],
        [
          0.21392921825682018,
          -0.17504828088904564,
          0.06444912588896605
        ]
      ],
      "num_cameras": 3,
      "edge_length_mm": 23.998290633295696
    }
  ]
}