{ "schema_version": "1.2", "stage": "initial_triangulation", "created_utc": "2026-05-31T08:27:18Z", "summary": { "num_cameras": 7, "num_markers": 52, "num_constraints": 89 }, "markers": [ { "marker_id": 41, "position_m": [ 0.21658698915796817, -0.8830138450847568, 1.7683880826617053 ], "position_mm": [ 216.58698915796816, -883.0138450847568, 1768.3880826617053 ], "link": "FingerA" }, { "marker_id": 42, "position_m": [ 0.1781886895206935, -0.22753658708594707, 0.7429545181340338 ], "position_mm": [ 178.1886895206935, -227.53658708594708, 742.9545181340338 ], "link": "FingerA" }, { "marker_id": 43, "position_m": [ 0.21986465726611587, -0.9302572339815879, 1.805172755768472 ], "position_mm": [ 219.86465726611587, -930.2572339815879, 1805.172755768472 ], "link": "FingerB" }, { "marker_id": 46, "position_m": [ 0.5353444487833174, 0.19094450763060505, -0.028824224555332376 ], "position_mm": [ 535.3444487833175, 190.94450763060505, -28.824224555332375 ], "link": "Board" }, { "marker_id": 47, "position_m": [ 0.3443046186534546, -0.28906531808534824, -0.02907160305986382 ], "position_mm": [ 344.30461865345455, -289.0653180853482, -29.07160305986382 ], "link": "Board" }, { "marker_id": 51, "position_m": [ 0.16571280814422615, -0.17359175561574047, -0.028488826309569903 ], "position_mm": [ 165.71280814422616, -173.59175561574048, -28.4888263095699 ], "link": "Board" }, { "marker_id": 53, "position_m": [ 0.4809882229100602, 0.22168733995692932, -0.032269487511527854 ], "position_mm": [ 480.9882229100602, 221.68733995692932, -32.269487511527856 ], "link": "Board" }, { "marker_id": 54, "position_m": [ 0.3424204663283792, -0.3257329590326729, -0.02634368962935683 ], "position_mm": [ 342.4204663283792, -325.7329590326729, -26.34368962935683 ], "link": "Board" }, { "marker_id": 55, "position_m": [ 0.28368403708899326, -0.2622833749363759, -0.02755554178272728 ], "position_mm": [ 283.68403708899325, -262.2833749363759, -27.555541782727282 ], "link": "Board" }, { "marker_id": 56, "position_m": [ 0.4988095414147132, 0.17630890893763235, -0.0364352870429625 ], "position_mm": [ 498.8095414147132, 176.30890893763234, -36.4352870429625 ], "link": "Board" }, { "marker_id": 58, "position_m": [ 0.0526580033780043, -0.21906809257628546, -0.02835635937126202 ], "position_mm": [ 52.6580033780043, -219.06809257628547, -28.35635937126202 ], "link": "Board" }, { "marker_id": 60, "position_m": [ 0.43551625454893345, 0.2841099366180272, -0.028022786000338955 ], "position_mm": [ 435.51625454893343, 284.1099366180272, -28.022786000338954 ], "link": "Board" }, { "marker_id": 61, "position_m": [ -0.010872266882962394, 0.3670345378559087, -0.06330905239333343 ], "position_mm": [ -10.872266882962395, 367.03453785590875, -63.309052393333424 ], "link": "Board" }, { "marker_id": 62, "position_m": [ 0.40459078211004296, -0.1758053788394437, -0.028731555097089228 ], "position_mm": [ 404.59078211004294, -175.8053788394437, -28.731555097089228 ], "link": "Board" }, { "marker_id": 63, "position_m": [ 0.7939582343351852, -0.24495858336307302, -0.04566784311900919 ], "position_mm": [ 793.9582343351852, -244.95858336307302, -45.66784311900919 ], "link": "Board" }, { "marker_id": 64, "position_m": [ -0.01857093803832619, -0.18940786715864724, -0.025650066198919966 ], "position_mm": [ -18.57093803832619, -189.40786715864724, -25.650066198919966 ], "link": "Board" }, { "marker_id": 66, "position_m": [ 0.21442602978250871, -0.3582287481400719, -0.0253377482745618 ], "position_mm": [ 214.42602978250872, -358.2287481400719, -25.3377482745618 ], "link": "Board" }, { "marker_id": 68, "position_m": [ 0.5701695141168323, 0.17109514764285297, -0.01912362413741396 ], "position_mm": [ 570.1695141168323, 171.09514764285296, -19.123624137413962 ], "link": "Board" }, { "marker_id": 69, "position_m": [ 0.017591807796447798, -0.2714722395940286, -0.00427827728326609 ], "position_mm": [ 17.591807796447796, -271.4722395940286, -4.27827728326609 ], "link": "Board" }, { "marker_id": 72, "position_m": [ 0.4338658016623372, 0.2028700544544373, -0.03362974655357984 ], "position_mm": [ 433.86580166233716, 202.87005445443728, -33.629746553579835 ], "link": "Board" }, { "marker_id": 75, "position_m": [ -0.019249728445510848, 0.22170060469230918, -0.060602246741824246 ], "position_mm": [ -19.249728445510847, 221.70060469230918, -60.602246741824246 ], "link": "Board" }, { "marker_id": 79, "position_m": [ 0.3117499858377775, -0.1590688241499239, -0.029231680533602297 ], "position_mm": [ 311.7499858377775, -159.0688241499239, -29.231680533602297 ], "link": "Board" }, { "marker_id": 82, "position_m": [ 0.2112975801664783, 0.30610009962831053, -0.034294144618292374 ], "position_mm": [ 211.2975801664783, 306.10009962831055, -34.29414461829237 ], "link": "Board" }, { "marker_id": 83, "position_m": [ 0.05617772786740702, 0.3628878787034694, -0.05516627439051941 ], "position_mm": [ 56.177727867407015, 362.88787870346937, -55.16627439051941 ], "link": "Board" }, { "marker_id": 84, "position_m": [ 0.3955716491271599, 0.2755611472252682, -0.03639348035346931 ], "position_mm": [ 395.5716491271599, 275.5611472252682, -36.39348035346931 ], "link": "Board" }, { "marker_id": 85, "position_m": [ 0.5035418420108746, -0.3115000606313704, -0.029316526029885635 ], "position_mm": [ 503.5418420108746, -311.50006063137045, -29.316526029885633 ], "link": "Board" }, { "marker_id": 86, "position_m": [ 0.36480747429222765, 0.2890125021883955, -0.02757163346948178 ], "position_mm": [ 364.80747429222765, 289.0125021883955, -27.57163346948178 ], "link": "Board" }, { "marker_id": 92, "position_m": [ 0.6484215565742886, -0.19142836827538523, -0.026959412384469666 ], "position_mm": [ 648.4215565742886, -191.42836827538522, -26.959412384469665 ], "link": "Board" }, { "marker_id": 95, "position_m": [ 0.18783541180381805, -0.2730684933040138, -0.026072710370314885 ], "position_mm": [ 187.83541180381806, -273.06849330401377, -26.072710370314887 ], "link": "Board" }, { "marker_id": 96, "position_m": [ 0.36945639722874585, -0.1874424647972503, -0.028652966744391124 ], "position_mm": [ 369.45639722874586, -187.4424647972503, -28.652966744391122 ], "link": "Board" }, { "marker_id": 97, "position_m": [ 0.3056395953781283, -0.3549760338775145, -0.026646489302010915 ], "position_mm": [ 305.6395953781283, -354.97603387751445, -26.646489302010917 ], "link": "Board" }, { "marker_id": 102, "position_m": [ 0.6547731805868846, -0.22746102178275013, -0.03437250359936993 ], "position_mm": [ 654.7731805868846, -227.46102178275012, -34.37250359936993 ], "link": "Board" }, { "marker_id": 103, "position_m": [ 0.10566315184420552, -0.1887900764197817, -0.02766178860491181 ], "position_mm": [ 105.66315184420552, -188.7900764197817, -27.661788604911813 ], "link": "Board" }, { "marker_id": 105, "position_m": [ 0.5245183351428954, -0.2678611395516067, -0.028535844957489353 ], "position_mm": [ 524.5183351428954, -267.8611395516067, -28.535844957489353 ], "link": "Board" }, { "marker_id": 114, "position_m": [ 0.12459439859193332, -0.2452364813561499, 0.5488516671946121 ], "position_mm": [ 124.59439859193331, -245.23648135614988, 548.8516671946121 ], "link": "Arm2" }, { "marker_id": 120, "position_m": [ 0.14026648440264003, -0.23470003828507108, 0.4676159383243786 ], "position_mm": [ 140.26648440264003, -234.7000382850711, 467.6159383243786 ], "link": "Arm2" }, { "marker_id": 198, "position_m": [ 0.19657912448353065, -0.006628963429045511, 0.19166352530746356 ], "position_mm": [ 196.57912448353065, -6.628963429045511, 191.66352530746354 ], "link": "Arm1" }, { "marker_id": 205, "position_m": [ 0.7349446416181248, -0.109336729453906, 0.037819635084636836 ], "position_mm": [ 734.9446416181248, -109.336729453906, 37.819635084636836 ], "link": "Board" }, { "marker_id": 206, "position_m": [ 0.6482880771684437, -0.006456469989491549, 0.004173590445577094 ], "position_mm": [ 648.2880771684437, -6.4564699894915485, 4.173590445577094 ], "link": "Board" }, { "marker_id": 207, "position_m": [ 0.7491995710848386, -0.0037837017347749843, 0.0035945367383009193 ], "position_mm": [ 749.1995710848386, -3.783701734774984, 3.5945367383009192 ], "link": "Board" }, { "marker_id": 208, "position_m": [ 0.34842248369610146, -0.10332554540300681, 0.002050941802379177 ], "position_mm": [ 348.42248369610144, -103.32554540300681, 2.0509418023791772 ], "link": "Board" }, { "marker_id": 210, "position_m": [ 0.017873829330270236, -0.01695351129863627, 0.003918019632354362 ], "position_mm": [ 17.873829330270237, -16.95351129863627, 3.9180196323543615 ], "link": "Board" }, { "marker_id": 211, "position_m": [ 0.24977971713815034, -0.01066888871041873, 0.0020309610209889206 ], "position_mm": [ 249.77971713815035, -10.66888871041873, 2.030961020988921 ], "link": "Board" }, { "marker_id": 214, "position_m": [ 0.3483651994297354, -0.0011223354678414315, -0.00155592589080064 ], "position_mm": [ 348.36519942973536, -1.1223354678414315, -1.55592589080064 ], "link": "Board" }, { "marker_id": 215, "position_m": [ 0.24986414092752182, -0.08811266800627533, 0.0031914499558548986 ], "position_mm": [ 249.86414092752182, -88.11266800627533, 3.1914499558548988 ], "link": "Board" }, { "marker_id": 217, "position_m": [ 0.6542056957605252, -0.10528682472217145, 0.006433135312231619 ], "position_mm": [ 654.2056957605253, -105.28682472217145, 6.433135312231618 ], "link": "Board" }, { "marker_id": 218, "position_m": [ 0.261791779103579, -0.12592306937412812, 0.32062622164274096 ], "position_mm": [ 261.79177910357896, -125.92306937412812, 320.626221642741 ], "link": "Arm2" }, { "marker_id": 219, "position_m": [ 0.26633442113559885, -0.07554295345877184, 0.46165689223248624 ], "position_mm": [ 266.33442113559886, -75.54295345877183, 461.65689223248626 ], "link": "Arm2" }, { "marker_id": 229, "position_m": [ 0.16621895475800497, -0.17272301834288864, 0.3256677866518892 ], "position_mm": [ 166.21895475800497, -172.72301834288865, 325.66778665188923 ], "link": "Arm1" }, { "marker_id": 243, "position_m": [ 0.19193203886537266, -0.15325478091305794, 0.19938556730589 ], "position_mm": [ 191.93203886537268, -153.25478091305794, 199.38556730589 ], "link": "Arm1" }, { "marker_id": 244, "position_m": [ 0.3139641864718502, -0.12680645063150545, 0.17772560017399108 ], "position_mm": [ 313.9641864718502, -126.80645063150544, 177.7256001739911 ], "link": "Ellbow" }, { "marker_id": 245, "position_m": [ 0.2797565379857707, -0.15477145058913286, 0.19255402963651777 ], "position_mm": [ 279.7565379857707, -154.77145058913285, 192.55402963651778 ], "link": "Ellbow" } ] }