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  1. 0/camera_info/cam_left_head.yaml +55 -0
  2. 0/camera_info/cam_left_wrist.yaml +55 -0
  3. 0/camera_info/cam_right_head.yaml +55 -0
  4. 0/camera_info/cam_right_wrist.yaml +55 -0
  5. 0/camera_info/camera_metadata.yaml +23 -0
  6. 0/videos/0_0/cam_left_head_recorder_stats.json +43 -0
  7. 0/videos/0_0/cam_left_wrist_recorder_stats.json +43 -0
  8. 0/videos/0_0/cam_right_head_recorder_stats.json +43 -0
  9. 0/videos/0_0/cam_right_wrist_recorder_stats.json +43 -0
  10. 1/camera_info/cam_left_head.yaml +55 -0
  11. 1/camera_info/cam_left_wrist.yaml +55 -0
  12. 1/camera_info/cam_right_head.yaml +55 -0
  13. 1/camera_info/cam_right_wrist.yaml +55 -0
  14. 1/camera_info/camera_metadata.yaml +23 -0
  15. 1/videos/1_0/cam_left_head_recorder_stats.json +43 -0
  16. 1/videos/1_0/cam_left_wrist_recorder_stats.json +43 -0
  17. 1/videos/1_0/cam_right_head_recorder_stats.json +43 -0
  18. 1/videos/1_0/cam_right_wrist_recorder_stats.json +43 -0
  19. 10/videos/10_0/cam_left_head_recorder_stats.json +43 -0
  20. 10/videos/10_0/cam_left_wrist_recorder_stats.json +43 -0
  21. 10/videos/10_0/cam_right_head_recorder_stats.json +43 -0
  22. 12/videos/12_0/cam_left_head_recorder_stats.json +43 -0
  23. 12/videos/12_0/cam_left_wrist_recorder_stats.json +43 -0
  24. 12/videos/12_0/cam_right_head_recorder_stats.json +43 -0
  25. 12/videos/12_0/cam_right_wrist_recorder_stats.json +43 -0
  26. 13/camera_info/cam_left_head.yaml +55 -0
  27. 13/camera_info/cam_left_wrist.yaml +55 -0
  28. 13/camera_info/cam_right_head.yaml +55 -0
  29. 13/camera_info/cam_right_wrist.yaml +55 -0
  30. 13/camera_info/camera_metadata.yaml +23 -0
  31. 13/videos/13_0/cam_left_head_recorder_stats.json +43 -0
  32. 13/videos/13_0/cam_left_wrist_recorder_stats.json +43 -0
  33. 13/videos/13_0/cam_right_head_recorder_stats.json +43 -0
  34. 13/videos/13_0/cam_right_wrist_recorder_stats.json +43 -0
  35. 15/camera_info/cam_left_head.yaml +55 -0
  36. 15/camera_info/cam_left_wrist.yaml +55 -0
  37. 15/camera_info/cam_right_head.yaml +55 -0
  38. 15/camera_info/cam_right_wrist.yaml +55 -0
  39. 15/camera_info/camera_metadata.yaml +23 -0
  40. 15/videos/15_0/cam_left_head_recorder_stats.json +43 -0
  41. 15/videos/15_0/cam_left_wrist_recorder_stats.json +43 -0
  42. 15/videos/15_0/cam_right_head_recorder_stats.json +43 -0
  43. 15/videos/15_0/cam_right_wrist_recorder_stats.json +43 -0
  44. 18/camera_info/cam_left_head.yaml +55 -0
  45. 18/camera_info/cam_left_wrist.yaml +55 -0
  46. 18/camera_info/cam_right_head.yaml +55 -0
  47. 18/camera_info/cam_right_wrist.yaml +55 -0
  48. 18/camera_info/camera_metadata.yaml +23 -0
  49. 18/videos/18_0/cam_left_head_recorder_stats.json +43 -0
  50. 18/videos/18_0/cam_left_wrist_recorder_stats.json +43 -0
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+ format_version: robotis_camera_metadata_v1
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+ cameras:
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+ cam_left_head:
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+ rotation_deg: 0
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