{
  "source": "Five user-supplied 540x720 photos, 2026-09-21; manually annotated from chat previews",
  "annotation_note": "Approximate hinge centres and fingertip ends. Occluded/foreshortened points have larger sigma_px. Camera intrinsics/extrinsics are unmeasured. These are not ground-truth 3-D joint positions. Distal tips hidden by contact are excluded from pinch images; exact contact is constrained by collision geometry instead.",
  "image_size": [
    540,
    720
  ],
  "zero_command": [
    0,
    0,
    255,
    195,
    100,
    22,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0,
    0
  ],
  "photos": [
    {
      "name": "index",
      "points": [
        [
          "pinky_mcp_pitch",
          153,
          394,
          5
        ],
        [
          "pinky_pip",
          134,
          310,
          5
        ],
        [
          "pinky_dip",
          112,
          211,
          5
        ],
        [
          "pinky_tip",
          101,
          154,
          5
        ],
        [
          "ring_mcp_pitch",
          191,
          379,
          5
        ],
        [
          "ring_pip",
          178,
          287,
          5
        ],
        [
          "ring_dip",
          155,
          184,
          5
        ],
        [
          "ring_tip",
          151,
          124,
          5
        ],
        [
          "middle_mcp_pitch",
          262,
          370,
          5
        ],
        [
          "middle_pip",
          265,
          278,
          5
        ],
        [
          "middle_dip",
          271,
          182,
          5
        ],
        [
          "middle_tip",
          273,
          124,
          5
        ],
        [
          "index_mcp_pitch",
          303,
          360,
          9
        ],
        [
          "index_pip",
          343,
          388,
          10
        ],
        [
          "index_dip",
          380,
          470,
          15
        ],
        [
          "thumb_mcp",
          290,
          523,
          12
        ],
        [
          "thumb_ip",
          339,
          504,
          15
        ]
      ]
    },
    {
      "name": "middle",
      "points": [
        [
          "pinky_mcp_pitch",
          171,
          397,
          5
        ],
        [
          "pinky_pip",
          149,
          310,
          5
        ],
        [
          "pinky_dip",
          121,
          207,
          5
        ],
        [
          "pinky_tip",
          112,
          153,
          5
        ],
        [
          "ring_mcp_pitch",
          208,
          377,
          5
        ],
        [
          "ring_pip",
          190,
          282,
          5
        ],
        [
          "ring_dip",
          171,
          181,
          5
        ],
        [
          "ring_tip",
          165,
          124,
          5
        ],
        [
          "index_mcp_pitch",
          303,
          365,
          8
        ],
        [
          "index_pip",
          328,
          278,
          6
        ],
        [
          "index_dip",
          350,
          230,
          7
        ],
        [
          "index_tip",
          366,
          167,
          7
        ],
        [
          "middle_mcp_pitch",
          255,
          370,
          8
        ],
        [
          "middle_pip",
          282,
          293,
          10
        ],
        [
          "middle_dip",
          309,
          383,
          15
        ],
        [
          "thumb_mcp",
          303,
          498,
          12
        ],
        [
          "thumb_ip",
          316,
          439,
          15
        ]
      ]
    },
    {
      "name": "ring",
      "points": [
        [
          "pinky_mcp_pitch",
          189,
          391,
          5
        ],
        [
          "pinky_pip",
          161,
          305,
          5
        ],
        [
          "pinky_dip",
          135,
          209,
          5
        ],
        [
          "pinky_tip",
          115,
          151,
          5
        ],
        [
          "middle_mcp_pitch",
          286,
          353,
          5
        ],
        [
          "middle_pip",
          290,
          263,
          5
        ],
        [
          "middle_dip",
          294,
          165,
          5
        ],
        [
          "middle_tip",
          298,
          112,
          5
        ],
        [
          "index_mcp_pitch",
          328,
          360,
          5
        ],
        [
          "index_pip",
          343,
          269,
          5
        ],
        [
          "index_dip",
          359,
          176,
          6
        ],
        [
          "index_tip",
          366,
          125,
          7
        ],
        [
          "ring_mcp_pitch",
          230,
          368,
          8
        ],
        [
          "ring_pip",
          231,
          345,
          10
        ],
        [
          "ring_dip",
          262,
          430,
          15
        ],
        [
          "thumb_mcp",
          324,
          493,
          12
        ],
        [
          "thumb_ip",
          293,
          461,
          15
        ]
      ]
    },
    {
      "name": "pinky",
      "points": [
        [
          "ring_mcp_pitch",
          236,
          365,
          5
        ],
        [
          "ring_pip",
          224,
          279,
          5
        ],
        [
          "ring_dip",
          209,
          177,
          5
        ],
        [
          "ring_tip",
          204,
          121,
          5
        ],
        [
          "middle_mcp_pitch",
          291,
          363,
          5
        ],
        [
          "middle_pip",
          298,
          275,
          5
        ],
        [
          "middle_dip",
          305,
          177,
          5
        ],
        [
          "middle_tip",
          307,
          122,
          5
        ],
        [
          "index_mcp_pitch",
          331,
          371,
          5
        ],
        [
          "index_pip",
          349,
          284,
          5
        ],
        [
          "index_dip",
          362,
          191,
          6
        ],
        [
          "index_tip",
          374,
          141,
          7
        ],
        [
          "pinky_mcp_pitch",
          195,
          383,
          9
        ],
        [
          "pinky_pip",
          196,
          450,
          9
        ],
        [
          "pinky_dip",
          213,
          532,
          15
        ],
        [
          "thumb_mcp",
          327,
          522,
          12
        ],
        [
          "thumb_ip",
          287,
          548,
          15
        ]
      ]
    },
    {
      "name": "zero",
      "points": [
        [
          "pinky_mcp_pitch",
          161,
          395,
          5
        ],
        [
          "pinky_pip",
          145,
          306,
          5
        ],
        [
          "pinky_dip",
          135,
          216,
          5
        ],
        [
          "pinky_tip",
          129,
          150,
          6
        ],
        [
          "ring_mcp_pitch",
          201,
          379,
          5
        ],
        [
          "ring_pip",
          195,
          288,
          5
        ],
        [
          "ring_dip",
          186,
          193,
          5
        ],
        [
          "ring_tip",
          185,
          117,
          6
        ],
        [
          "middle_mcp_pitch",
          248,
          372,
          5
        ],
        [
          "middle_pip",
          245,
          283,
          5
        ],
        [
          "middle_dip",
          242,
          186,
          5
        ],
        [
          "middle_tip",
          239,
          111,
          6
        ],
        [
          "index_mcp_pitch",
          295,
          369,
          5
        ],
        [
          "index_pip",
          297,
          276,
          5
        ],
        [
          "index_dip",
          298,
          190,
          6
        ],
        [
          "index_tip",
          299,
          130,
          7
        ],
        [
          "thumb_cmc_yaw",
          302,
          496,
          9
        ],
        [
          "thumb_mcp",
          339,
          505,
          7
        ],
        [
          "thumb_ip",
          423,
          535,
          8
        ],
        [
          "thumb_tip",
          488,
          565,
          9
        ]
      ]
    }
  ]
}