{
  "dataset": "robocoin/AI2_Alphabot_2_insert_straw_0",
  "device_model": "AI2_Alphabot_2",
  "total_cameras": 4,
  "camera_parameters": {
    "cam_front_chest_rgb": {
      "camera_name": "cam_front_chest_rgb",
      "intrinsic": [
        [
          607.3426513671875,
          0.0,
          325.3845520019531
        ],
        [
          0.0,
          606.1726684570312,
          242.72775268554688
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "distortion": [
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "extrinsic": [
        [
          1.0,
          0.0,
          0.0,
          0.0
        ],
        [
          0.0,
          1.0,
          0.0,
          0.0
        ],
        [
          0.0,
          0.0,
          1.0,
          0.0
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "resolution": [
        640,
        480
      ],
      "source_path": "infos/camera_params/chest.json",
      "file": "20260121_182655_812.h5"
    },
    "cam_front_head_rgb": {
      "camera_name": "cam_front_head_rgb",
      "intrinsic": [
        [
          602.439697265625,
          0.0,
          325.37628173828125
        ],
        [
          0.0,
          601.0829467773438,
          251.1419677734375
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "distortion": [
        0.0,
        0.0,
        0.0,
        0.0,
        0.0
      ],
      "extrinsic": [
        [
          1.0,
          0.0,
          0.0,
          0.0
        ],
        [
          0.0,
          1.0,
          0.0,
          0.0
        ],
        [
          0.0,
          0.0,
          1.0,
          0.0
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "resolution": [
        640,
        480
      ],
      "source_path": "infos/camera_params/head.json",
      "file": "20260121_182655_812.h5"
    },
    "cam_left_wrist_rgb": {
      "camera_name": "cam_left_wrist_rgb",
      "intrinsic": [
        [
          392.9185791015625,
          0.0,
          319.714111328125
        ],
        [
          0.0,
          392.56396484375,
          239.22573852539062
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "distortion": [
        -0.05253776162862778,
        0.05930964648723602,
        0.001476694131270051,
        0.00038263900205492973,
        -0.019941356033086777
      ],
      "extrinsic": [
        [
          1.0,
          0.0,
          0.0,
          0.0
        ],
        [
          0.0,
          1.0,
          0.0,
          0.0
        ],
        [
          0.0,
          0.0,
          1.0,
          0.0
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "resolution": [
        640,
        480
      ],
      "source_path": "infos/camera_params/left.json",
      "file": "20260121_182655_812.h5"
    },
    "cam_right_wrist_rgb": {
      "camera_name": "cam_right_wrist_rgb",
      "intrinsic": [
        [
          392.448974609375,
          0.0,
          322.67529296875
        ],
        [
          0.0,
          392.0555114746094,
          245.55142211914062
        ],
        [
          0.0,
          0.0,
          1.0
        ]
      ],
      "distortion": [
        -0.05338998883962631,
        0.06039239838719368,
        0.001123271300457418,
        0.0015611271373927593,
        -0.02061690203845501
      ],
      "extrinsic": [
        [
          1.0,
          0.0,
          0.0,
          0.0
        ],
        [
          0.0,
          1.0,
          0.0,
          0.0
        ],
        [
          0.0,
          0.0,
          1.0,
          0.0
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "resolution": [
        640,
        480
      ],
      "source_path": "infos/camera_params/right.json",
      "file": "20260121_182655_812.h5"
    }
  }
}