{ "schema_version": "1.2", "created_utc": "2026-06-02T22:54:56Z", "summary": { "num_cameras": 6, "num_markers": 41, "num_constraints": 94 }, "cameras": [ { "camera_id": "a", "position_m": [ -0.3001274357176493, -0.7979520803678932, 0.8009902676185592 ], "position_mm": [ -300.12743571764935, -797.9520803678932, 800.9902676185592 ], "direction": [ 0.4789915382862091, 0.6567302346229553, -0.5824710726737976 ] }, { "camera_id": "b", "position_m": [ 0.30646773723406184, -0.8952954576450594, 1.2012608829797486 ], "position_mm": [ 306.4677372340618, -895.2954576450594, 1201.2608829797487 ], "direction": [ 0.00400501536205411, 0.6243181228637695, -0.7811599373817444 ] }, { "camera_id": "c", "position_m": [ 0.30222042083446865, -0.9015130863831495, 0.39827613859571753 ], "position_mm": [ 302.22042083446865, -901.5130863831496, 398.27613859571755 ], "direction": [ -0.10769812762737274, 0.9494794607162476, -0.2947707772254944 ] }, { "camera_id": "d", "position_m": [ 0.7046937746856436, -0.7914174011623307, 0.3989527588758248 ], "position_mm": [ 704.6937746856437, -791.4174011623307, 398.9527588758248 ], "direction": [ -0.5576696991920471, 0.7805226445198059, -0.28246936202049255 ] }, { "camera_id": "e", "position_m": [ 1.2059563341749637, -0.9025538118437437, 0.4061715893081437 ], "position_mm": [ 1205.9563341749638, -902.5538118437437, 406.17158930814367 ], "direction": [ -0.750444233417511, 0.60433429479599, -0.2676071226596832 ] }, { "camera_id": "f", "position_m": [ 0.4848910479147168, -0.3064199973610857, 1.40194389878924 ], "position_mm": [ 484.8910479147168, -306.41999736108573, 1401.9438987892402 ], "direction": [ -0.22731362283229828, 0.08567609637975693, -0.9700454473495483 ] } ], "markers": [ { "marker_id": 42, "position_m": [ 0.2924005486949778, -0.36170559860691565, 0.18931228311818724 ], "position_mm": [ 292.4005486949778, -361.70559860691566, 189.31228311818722 ], "link": "FingerA", "normal": [ 0.8830215713766957, -0.3090575499818435, 0.3532086285506783 ] }, { "marker_id": 44, "position_m": [ 0.32002262110272334, -0.2897124135104039, 0.18681362437973423 ], "position_mm": [ 320.02262110272335, -289.7124135104039, 186.81362437973422 ], "link": "FingerB", "normal": [ 0.0, -0.9375276894468237, -0.34791066600565723 ] }, { "marker_id": 47, "position_m": [ 0.3452032511355703, -0.28571503058887127, -0.030804235606579834 ], "position_mm": [ 345.2032511355703, -285.7150305888713, -30.804235606579834 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 48, "position_m": [ 0.6876951106732618, -0.3190486897316161, -0.02699855291868223 ], "position_mm": [ 687.6951106732619, -319.0486897316161, -26.99855291868223 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 50, "position_m": [ 0.5710545002011411, 0.2102531397371197, -0.026524327216028314 ], "position_mm": [ 571.0545002011411, 210.2531397371197, -26.524327216028315 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 51, "position_m": [ 0.16767376145144972, -0.1735340082321151, -0.027380473284618356 ], "position_mm": [ 167.6737614514497, -173.5340082321151, -27.380473284618354 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 54, "position_m": [ 0.3396711632092095, -0.3291639091539146, -0.02572229067284242 ], "position_mm": [ 339.67116320920945, -329.1639091539146, -25.72229067284242 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 58, "position_m": [ 0.04897382184140357, -0.21732689436437286, -0.02646332817368694 ], "position_mm": [ 48.97382184140357, -217.32689436437286, -26.463328173686943 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 59, "position_m": [ 0.6252833165086343, -0.27698872892154824, -0.02797682995490312 ], "position_mm": [ 625.2833165086344, -276.9887289215483, -27.97682995490312 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 61, "position_m": [ -0.02192221135855018, 0.33304689455015424, -0.02598545105064001 ], "position_mm": [ -21.92221135855018, 333.04689455015426, -25.98545105064001 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 62, "position_m": [ 0.4045402012455574, -0.17393038877950084, -0.027015519351584773 ], "position_mm": [ 404.5402012455574, -173.93038877950084, -27.015519351584775 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 63, "position_m": [ 0.7753487754331835, -0.23612405842203266, -0.027868632042066167 ], "position_mm": [ 775.3487754331835, -236.12405842203265, -27.868632042066167 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 64, "position_m": [ -0.021934006561956633, -0.1865220379515073, -0.029324728799978505 ], "position_mm": [ -21.934006561956632, -186.5220379515073, -29.324728799978505 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 69, "position_m": [ 0.005094814220432758, -0.27945585811198204, -0.027333642622058958 ], "position_mm": [ 5.094814220432758, -279.455858111982, -27.333642622058957 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 75, "position_m": [ -0.02740278936247207, 0.1924182993796871, -0.026061733726058113 ], "position_mm": [ -27.40278936247207, 192.4182993796871, -26.06173372605811 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 79, "position_m": [ 0.312335301160932, -0.15788536598592678, -0.028456992555239688 ], "position_mm": [ 312.335301160932, -157.8853659859268, -28.456992555239687 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 85, "position_m": [ 0.5062570707298548, -0.31386915892335926, -0.02723569144313462 ], "position_mm": [ 506.25707072985483, -313.86915892335924, -27.23569144313462 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 94, "position_m": [ 0.8724003948489659, 0.17376974126887204, -0.0262493060902215 ], "position_mm": [ 872.4003948489659, 173.76974126887205, -26.249306090221502 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 95, "position_m": [ 0.1865155384806575, -0.27541293974984526, -0.027957167683236944 ], "position_mm": [ 186.51553848065748, -275.41293974984524, -27.957167683236943 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 96, "position_m": [ 0.36966801318092835, -0.18548658112210725, -0.026559294061938604 ], "position_mm": [ 369.66801318092837, -185.48658112210725, -26.559294061938605 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 97, "position_m": [ 0.30349495756361367, -0.360320296889969, -0.02369057558819506 ], "position_mm": [ 303.49495756361364, -360.32029688996903, -23.69057558819506 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 102, "position_m": [ 0.651465774577714, -0.22245609791554277, -0.028162489648786947 ], "position_mm": [ 651.465774577714, -222.45609791554278, -28.162489648786945 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 103, "position_m": [ 0.10549584817041414, -0.1887391557071225, -0.028857613420272252 ], "position_mm": [ 105.49584817041415, -188.73915570712248, -28.85761342027225 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 105, "position_m": [ 0.5237177094451277, -0.2663016888383429, -0.029512101049035653 ], "position_mm": [ 523.7177094451278, -266.3016888383429, -29.512101049035653 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 114, "position_m": [ 0.2810326061632922, -0.2355233877924073, 0.2209392714483642 ], "position_mm": [ 281.0326061632922, -235.5233877924073, 220.9392714483642 ], "link": "Arm2", "normal": [ 0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 115, "position_m": [ 0.3099107676062442, -0.22773663635880045, 0.18149716730300158 ], "position_mm": [ 309.9107676062442, -227.73663635880047, 181.4971673030016 ], "link": "Arm2", "normal": [ -0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 120, "position_m": [ 0.2807227746227134, -0.16959678405635564, 0.24446809051921586 ], "position_mm": [ 280.7227746227134, -169.59678405635563, 244.46809051921588 ], "link": "Arm2", "normal": [ 0.7071067811865475, 0.0, -0.7071067811865475 ] }, { "marker_id": 205, "position_m": [ 0.7528453921245355, -0.0907086523304638, 0.0001272223067779536 ], "position_mm": [ 752.8453921245355, -90.70865233046379, 0.1272223067779536 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 206, "position_m": [ 0.6506706230976186, -0.009333621929983217, -0.00025828836639245356 ], "position_mm": [ 650.6706230976185, -9.333621929983217, -0.25828836639245356 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 208, "position_m": [ 0.35239896225931877, -0.09104372487297052, 0.0013146627206956048 ], "position_mm": [ 352.39896225931875, -91.04372487297053, 1.3146627206956047 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 210, "position_m": [ 0.021867064976830317, -0.019318424396508212, 0.0005201571898990681 ], "position_mm": [ 21.867064976830317, -19.318424396508213, 0.5201571898990681 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 211, "position_m": [ 0.252248367639268, -0.00861358427419114, -0.00011419699439727293 ], "position_mm": [ 252.248367639268, -8.61358427419114, -0.11419699439727293 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 214, "position_m": [ 0.347319448526565, -0.011208046190630734, 0.0006371179412994096 ], "position_mm": [ 347.319448526565, -11.208046190630734, 0.6371179412994096 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 215, "position_m": [ 0.25069948561818794, -0.08859806923759889, 0.00017057703857130277 ], "position_mm": [ 250.69948561818794, -88.59806923759889, 0.17057703857130277 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 217, "position_m": [ 0.64698039307963, -0.08924818640606307, -4.7431909962576956e-05 ], "position_mm": [ 646.98039307963, -89.24818640606307, -0.04743190996257696 ], "link": "Board", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 218, "position_m": [ 0.2540987807459094, -0.16859424744173301, 0.24167391854027548 ], "position_mm": [ 254.0987807459094, -168.59424744173302, 241.67391854027548 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 219, "position_m": [ 0.2550526866642547, -0.269773575367359, 0.20549244980649667 ], "position_mm": [ 255.05268666425468, -269.773575367359, 205.49244980649667 ], "link": "Arm2", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 243, "position_m": [ 0.1863620767673177, -0.030665930060225704, 0.24577109258284388 ], "position_mm": [ 186.3620767673177, -30.665930060225705, 245.7710925828439 ], "link": "Arm1", "normal": [ 0.0, -1.0, 0.0 ] }, { "marker_id": 244, "position_m": [ 0.30923598669055435, -0.05759650652716385, 0.25706021896228465 ], "position_mm": [ 309.23598669055434, -57.596506527163854, 257.06021896228464 ], "link": "Ellbow", "normal": [ 1.0, 0.0, 0.0 ] }, { "marker_id": 246, "position_m": [ 0.2695440737855905, -0.0679337913997595, 0.2847676612124557 ], "position_mm": [ 269.54407378559046, -67.9337913997595, 284.7676612124557 ], "link": "Ellbow", "normal": [ 0.0, 0.0, 1.0 ] }, { "marker_id": 247, "position_m": [ 0.23247217704041584, -0.0626257612338886, 0.28670639555596666 ], "position_mm": [ 232.47217704041583, -62.6257612338886, 286.70639555596665 ], "link": "Ellbow", "normal": [ 0.0, 0.0, 1.0 ] } ] }