{ "schema_version": "1.2", "stage": "initial_triangulation", "created_utc": "2026-05-31T08:21:19Z", "summary": { "num_cameras": 7, "num_markers": 55, "num_constraints": 89 }, "markers": [ { "marker_id": 41, "position_m": [ 0.36491943436434837, -0.15341836855742522, 0.20512832629130354 ], "position_mm": [ 364.9194343643484, -153.41836855742523, 205.12832629130352 ], "link": "FingerA" }, { "marker_id": 42, "position_m": [ 0.3762966001705929, -0.17649441008502625, 0.1587454543524568 ], "position_mm": [ 376.2966001705929, -176.49441008502626, 158.7454543524568 ], "link": "FingerA" }, { "marker_id": 43, "position_m": [ 0.334631482008935, -0.18710614513031634, 0.16591588247152117 ], "position_mm": [ 334.631482008935, -187.10614513031635, 165.91588247152117 ], "link": "FingerB" }, { "marker_id": 46, "position_m": [ 0.5348101937245319, 0.18614586764872093, -0.026404450211016686 ], "position_mm": [ 534.8101937245318, 186.14586764872092, -26.404450211016687 ], "link": "Board" }, { "marker_id": 47, "position_m": [ 0.3441549352912641, -0.28949267930295414, -0.02926505845950718 ], "position_mm": [ 344.1549352912641, -289.4926793029541, -29.26505845950718 ], "link": "Board" }, { "marker_id": 51, "position_m": [ 0.16643692631172335, -0.17224694369816523, -0.028388250034234296 ], "position_mm": [ 166.43692631172337, -172.24694369816524, -28.388250034234296 ], "link": "Board" }, { "marker_id": 52, "position_m": [ 0.10201931659302299, 0.22427132169709932, -0.0458445726799247 ], "position_mm": [ 102.01931659302299, 224.27132169709932, -45.8445726799247 ], "link": "Board" }, { "marker_id": 53, "position_m": [ 0.4804806672034692, 0.22290013832209646, -0.03298401993792536 ], "position_mm": [ 480.48066720346924, 222.90013832209647, -32.98401993792536 ], "link": "Board" }, { "marker_id": 54, "position_m": [ 0.34227592357653824, -0.32651034206834256, -0.024247226208955232 ], "position_mm": [ 342.2759235765382, -326.51034206834254, -24.247226208955233 ], "link": "Board" }, { "marker_id": 55, "position_m": [ 0.28503129467591654, -0.26220090150216113, -0.026871285910969503 ], "position_mm": [ 285.0312946759165, -262.2009015021611, -26.871285910969505 ], "link": "Board" }, { "marker_id": 56, "position_m": [ 0.4975276245025126, 0.16980698571696468, -0.02664966035093813 ], "position_mm": [ 497.5276245025126, 169.80698571696468, -26.64966035093813 ], "link": "Board" }, { "marker_id": 58, "position_m": [ 0.0525090460798551, -0.21741328405627652, -0.02881473780240553 ], "position_mm": [ 52.509046079855096, -217.41328405627652, -28.81473780240553 ], "link": "Board" }, { "marker_id": 61, "position_m": [ -0.011977943033331646, 0.364540277267162, -0.06084083856924159 ], "position_mm": [ -11.977943033331647, 364.54027726716197, -60.84083856924159 ], "link": "Board" }, { "marker_id": 62, "position_m": [ 0.40457835574230283, -0.17601291718337936, -0.029020307229570795 ], "position_mm": [ 404.57835574230285, -176.01291718337936, -29.020307229570793 ], "link": "Board" }, { "marker_id": 63, "position_m": [ 0.7962738849802937, -0.24485880482411773, -0.05168221406234657 ], "position_mm": [ 796.2738849802937, -244.85880482411773, -51.68221406234657 ], "link": "Board" }, { "marker_id": 64, "position_m": [ -0.019311415934851407, -0.18697653469693007, -0.02650726165326947 ], "position_mm": [ -19.311415934851407, -186.97653469693006, -26.50726165326947 ], "link": "Board" }, { "marker_id": 66, "position_m": [ 0.21606554625551835, -0.3587307601391551, -0.024788136377347024 ], "position_mm": [ 216.06554625551834, -358.7307601391551, -24.788136377347023 ], "link": "Board" }, { "marker_id": 68, "position_m": [ 0.5700081839874442, 0.17227552203356292, -0.020966733825936768 ], "position_mm": [ 570.0081839874442, 172.2755220335629, -20.966733825936767 ], "link": "Board" }, { "marker_id": 69, "position_m": [ 0.01606058427016535, -0.27863620345839213, -0.024050819698399103 ], "position_mm": [ 16.06058427016535, -278.6362034583921, -24.050819698399103 ], "link": "Board" }, { "marker_id": 72, "position_m": [ 0.43309377081875733, 0.20407063379317097, -0.03366854493680052 ], "position_mm": [ 433.0937708187573, 204.07063379317097, -33.66854493680052 ], "link": "Board" }, { "marker_id": 73, "position_m": [ 0.2242973122178266, 0.32936312562239684, -0.026995858795568893 ], "position_mm": [ 224.2973122178266, 329.3631256223968, -26.995858795568893 ], "link": "Board" }, { "marker_id": 74, "position_m": [ 0.08475466117863692, 0.12208473354911287, -0.0031657385117373495 ], "position_mm": [ 84.75466117863692, 122.08473354911287, -3.1657385117373495 ], "link": "Board" }, { "marker_id": 75, "position_m": [ -0.020246016635978782, 0.21963995627837535, -0.05847879587228368 ], "position_mm": [ -20.246016635978783, 219.63995627837534, -58.47879587228368 ], "link": "Board" }, { "marker_id": 77, "position_m": [ -0.02332857373814633, 0.35758004759490997, -0.2973088924687588 ], "position_mm": [ -23.328573738146332, 357.58004759490996, -297.3088924687588 ], "link": "Board" }, { "marker_id": 79, "position_m": [ 0.31140858591456766, -0.16062607243756685, -0.028880573550973523 ], "position_mm": [ 311.40858591456765, -160.62607243756685, -28.880573550973523 ], "link": "Board" }, { "marker_id": 81, "position_m": [ 0.1377617139852063, 0.18229654891083222, -0.043053305675717836 ], "position_mm": [ 137.7617139852063, 182.29654891083223, -43.05330567571784 ], "link": "Board" }, { "marker_id": 82, "position_m": [ 0.2112801742734882, 0.2790429148071016, -0.00593931018486768 ], "position_mm": [ 211.2801742734882, 279.04291480710157, -5.93931018486768 ], "link": "Board" }, { "marker_id": 83, "position_m": [ 0.055013790042519654, 0.36069462280513026, -0.05294901635948005 ], "position_mm": [ 55.01379004251965, 360.6946228051303, -52.949016359480055 ], "link": "Board" }, { "marker_id": 84, "position_m": [ 0.3950453580385908, 0.2772761867353298, -0.03683680737639849 ], "position_mm": [ 395.0453580385908, 277.27618673532976, -36.83680737639849 ], "link": "Board" }, { "marker_id": 85, "position_m": [ 0.5047824695340085, -0.3120210496432309, -0.02862498233440109 ], "position_mm": [ 504.7824695340085, -312.0210496432309, -28.62498233440109 ], "link": "Board" }, { "marker_id": 86, "position_m": [ 0.36343835760467236, 0.29083273079168975, -0.027959808797070284 ], "position_mm": [ 363.4383576046724, 290.83273079168976, -27.959808797070284 ], "link": "Board" }, { "marker_id": 92, "position_m": [ 0.648438998084497, -0.19147171931201065, -0.027168982413039514 ], "position_mm": [ 648.438998084497, -191.47171931201066, -27.168982413039515 ], "link": "Board" }, { "marker_id": 95, "position_m": [ 0.18898933657207065, -0.2727868842406354, -0.025631037100150297 ], "position_mm": [ 188.98933657207064, -272.7868842406354, -25.631037100150298 ], "link": "Board" }, { "marker_id": 96, "position_m": [ 0.36912277687798833, -0.18855283423347605, -0.028458096734912945 ], "position_mm": [ 369.1227768779883, -188.55283423347603, -28.458096734912946 ], "link": "Board" }, { "marker_id": 97, "position_m": [ 0.3074397972605943, -0.35570356406958475, -0.025832179420471807 ], "position_mm": [ 307.4397972605943, -355.70356406958473, -25.832179420471807 ], "link": "Board" }, { "marker_id": 102, "position_m": [ 0.6556381590624528, -0.2270895504257825, -0.03566043278927424 ], "position_mm": [ 655.6381590624528, -227.0895504257825, -35.66043278927424 ], "link": "Board" }, { "marker_id": 103, "position_m": [ 0.10600529640978833, -0.1873398386552967, -0.027818012802384738 ], "position_mm": [ 106.00529640978833, -187.3398386552967, -27.81801280238474 ], "link": "Board" }, { "marker_id": 105, "position_m": [ 0.5254125670481129, -0.2681971642720504, -0.02796420389119132 ], "position_mm": [ 525.4125670481129, -268.19716427205043, -27.964203891191318 ], "link": "Board" }, { "marker_id": 113, "position_m": [ 0.3881808776542281, -0.03320691424453553, 0.2686501264315494 ], "position_mm": [ 388.1808776542281, -33.206914244535525, 268.6501264315494 ], "link": "Arm2" }, { "marker_id": 115, "position_m": [ 0.3262062519991027, -0.1596679141497278, 0.2745459169610198 ], "position_mm": [ 326.2062519991027, -159.6679141497278, 274.5459169610198 ], "link": "Arm2" }, { "marker_id": 122, "position_m": [ 0.37010034466195196, -0.12066831288775577, 0.31943120784418927 ], "position_mm": [ 370.10034466195197, -120.66831288775577, 319.43120784418926 ], "link": "Arm2" }, { "marker_id": 124, "position_m": [ 0.3670303281623567, -0.1834319085337774, 0.2562859856503314 ], "position_mm": [ 367.0303281623567, -183.43190853377737, 256.2859856503314 ], "link": "Arm2" }, { "marker_id": 205, "position_m": [ 0.7342483829218235, -0.10924269715787209, 0.03942157899859458 ], "position_mm": [ 734.2483829218235, -109.24269715787209, 39.42157899859458 ], "link": "Board" }, { "marker_id": 206, "position_m": [ 0.6484625381211852, -0.0063490528836260334, 0.0038602697671912987 ], "position_mm": [ 648.4625381211852, -6.349052883626033, 3.8602697671912987 ], "link": "Board" }, { "marker_id": 207, "position_m": [ 0.7497149617850667, -0.0031153139731276316, 0.0029488243690723665 ], "position_mm": [ 749.7149617850666, -3.115313973127632, 2.9488243690723666 ], "link": "Board" }, { "marker_id": 208, "position_m": [ 0.349164898069492, -0.10190853583916244, 0.002842144851479469 ], "position_mm": [ 349.16489806949204, -101.90853583916244, 2.842144851479469 ], "link": "Board" }, { "marker_id": 210, "position_m": [ 0.017785564239698168, -0.01705599117575304, 0.0034780454112439277 ], "position_mm": [ 17.785564239698168, -17.05599117575304, 3.4780454112439276 ], "link": "Board" }, { "marker_id": 211, "position_m": [ 0.24969922847055254, -0.00833057987208165, 0.003907233877621789 ], "position_mm": [ 249.69922847055253, -8.33057987208165, 3.907233877621789 ], "link": "Board" }, { "marker_id": 214, "position_m": [ 0.349378669487225, -0.009215415022042085, 0.00611350165445435 ], "position_mm": [ 349.378669487225, -9.215415022042084, 6.11350165445435 ], "link": "Board" }, { "marker_id": 215, "position_m": [ 0.248249106327495, -0.09967254590100509, 0.002705057531327002 ], "position_mm": [ 248.249106327495, -99.6725459010051, 2.705057531327002 ], "link": "Board" }, { "marker_id": 217, "position_m": [ 0.6541943128716132, -0.10491351237266673, 0.006443825482350651 ], "position_mm": [ 654.1943128716132, -104.91351237266673, 6.443825482350651 ], "link": "Board" }, { "marker_id": 242, "position_m": [ 0.29443841678390603, 0.08517206308396548, 0.38690571318243044 ], "position_mm": [ 294.438416783906, 85.17206308396548, 386.9057131824304 ], "link": "Arm1" }, { "marker_id": 243, "position_m": [ 0.23227009996317585, -0.06768781829758978, 0.5980139826894932 ], "position_mm": [ 232.27009996317585, -67.68781829758979, 598.0139826894932 ], "link": "Arm1" }, { "marker_id": 246, "position_m": [ 0.300253542020094, -0.08068324718750165, 0.5922886528066482 ], "position_mm": [ 300.253542020094, -80.68324718750165, 592.2886528066482 ], "link": "Ellbow" }, { "marker_id": 247, "position_m": [ 0.27205825932733146, -0.08001400386920078, 0.592030183756874 ], "position_mm": [ 272.0582593273315, -80.01400386920078, 592.030183756874 ], "link": "Ellbow" } ] }